{
    "0": {
        "acceleration": [
            -0.0003339118848089129,
            -0.0021972600370645523,
            -0.12196056544780731
        ],
        "angular_velocity": [
            0.028121091425418854,
            -0.006644628010690212,
            -8.486644219374284e-05
        ],
        "forward_vector": [
            -0.999972403049469,
            0.0059099760837852955,
            0.00450418796390295
        ],
        "right_vector": [
            -0.005909887608140707,
            -0.9999825358390808,
            3.302285404060967e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4188537597656
        ],
        "rotation": [
            -0.0018920892616733909,
            0.2580718398094177,
            179.661376953125
        ],
        "velocity": [
            6.943997141206637e-05,
            -0.00019126382539980114,
            0.018893197178840637
        ],
        "speed": 0.00020347914029765854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.000955799943767488,
        "expert_target_speed": 1.2169285227658821,
        "target_point": [
            50.999163732959516,
            -0.0003592170251114357
        ],
        "target_point_next": [
            101.99917238190014,
            -0.00022515083930241264
        ]
    },
    "5": {
        "acceleration": [
            -0.0011083781719207764,
            -0.0007896865718066692,
            -0.025519002228975296
        ],
        "angular_velocity": [
            0.005657642148435116,
            -0.015380987897515297,
            4.45711993961595e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.00449238670989871
        ],
        "right_vector": [
            -0.005909198895096779,
            -0.9999825358390808,
            2.7163960112375207e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4212951660156
        ],
        "rotation": [
            -0.0015563959022983909,
            0.2573956549167633,
            179.6614227294922
        ],
        "velocity": [
            -2.1195412045926787e-05,
            -2.5291190468124114e-05,
            0.004612100776284933
        ],
        "speed": 3.299833036824061e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.999587059020996,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.478124618530273,
                4291.25537109375,
                372.4775390625
            ],
            "velocity": [
                -0.0021205374505370855,
                -2.5817175810516346e-06,
                -0.5044171214103699
            ],
            "speed_kmh": 1.8159176833181012,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -87.58781433105469,
                        "y": 4301.384765625,
                        "z": 372.9459228515625
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -87.6070327758789,
                        "y": 4298.134765625,
                        "z": 372.9459228515625
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43513649702072144,
                "transform": {
                    "location": {
                        "x": 21.521093368530273,
                        "y": 4290.9892578125,
                        "z": 372.2965087890625
                    },
                    "rotation": {
                        "roll": 0.00043401645962148905,
                        "pitch": 0.27310508489608765,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.001966088777408004,
                    "y": 9.34523359319428e-06,
                    "z": -0.43513205647468567
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6362441778182983,
                "transform": {
                    "location": {
                        "x": 6.521015644073486,
                        "y": 4291.078125,
                        "z": 372.3824462890625
                    },
                    "rotation": {
                        "roll": 0.0004818566085305065,
                        "pitch": 0.26365211606025696,
                        "yaw": 179.66213989257812
                    }
                },
                "velocity": {
                    "x": -0.0029730398673564196,
                    "y": 8.878352673491463e-05,
                    "z": -0.6362372040748596
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.504421591758728,
                "transform": {
                    "location": {
                        "x": -23.478124618530273,
                        "y": 4291.25537109375,
                        "z": 372.4775390625
                    },
                    "rotation": {
                        "roll": 0.0005027608713135123,
                        "pitch": 0.24115347862243652,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": -0.0021205374505370855,
                    "y": -2.5817175810516346e-06,
                    "z": -0.5044171214103699
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5038925409317017,
                "transform": {
                    "location": {
                        "x": -38.47789001464844,
                        "y": 4291.34423828125,
                        "z": 372.5402526855469
                    },
                    "rotation": {
                        "roll": 0.000762019888497889,
                        "pitch": 0.2391522377729416,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.002092059701681137,
                    "y": -2.7062598746852018e-05,
                    "z": -0.5038881897926331
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.41446763277053833,
                "transform": {
                    "location": {
                        "x": 21.540390014648438,
                        "y": 4294.2392578125,
                        "z": 372.27764892578125
                    },
                    "rotation": {
                        "roll": 5.9565390984062105e-05,
                        "pitch": 0.27149316668510437,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0019413369009271264,
                    "y": 9.360680996906012e-05,
                    "z": -0.414463073015213
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4345903992652893,
                "transform": {
                    "location": {
                        "x": 6.540546894073486,
                        "y": 4294.328125,
                        "z": 372.3664245605469
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.2634335458278656,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -0.0020376169122755527,
                    "y": -5.4709631513105705e-05,
                    "z": -0.4345856308937073
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4346223473548889,
                "transform": {
                    "location": {
                        "x": -23.458906173706055,
                        "y": 4294.50537109375,
                        "z": 372.498046875
                    },
                    "rotation": {
                        "roll": 0.0004313784302212298,
                        "pitch": 0.24396751821041107,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -0.0017379863420501351,
                    "y": 5.55941769562196e-05,
                    "z": -0.43461886048316956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45484766364097595,
                "transform": {
                    "location": {
                        "x": -38.45867156982422,
                        "y": 4294.59423828125,
                        "z": 372.54925537109375
                    },
                    "rotation": {
                        "roll": -9.155279258266091e-05,
                        "pitch": 0.23794329166412354,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0018916120752692223,
                    "y": -8.686878913977125e-07,
                    "z": -0.4548437297344208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0001894673187052831,
        "expert_target_speed": 1.0110166098903304,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "10": {
        "acceleration": [
            -7.579625525977463e-05,
            1.5516270650550723e-05,
            -0.003165300004184246
        ],
        "angular_velocity": [
            0.009366340935230255,
            -0.0023333558347076178,
            1.8893115338869393e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.00449274480342865
        ],
        "right_vector": [
            -0.005909224972128868,
            -0.9999825358390808,
            2.1305066184140742e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4217224121094
        ],
        "rotation": [
            -0.0012207026593387127,
            0.25741615891456604,
            179.6614227294922
        ],
        "velocity": [
            9.782351298781577e-06,
            -2.9690518204006366e-05,
            0.001989897806197405
        ],
        "speed": 3.126053851351904e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.999556541442871,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.478124618530273,
                4291.25537109375,
                372.46905517578125
            ],
            "velocity": [
                0.00044389528920874,
                -2.516975291655399e-05,
                0.10291092842817307
            ],
            "speed_kmh": 0.37048279985681754,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -85.51429748535156,
                        "y": 4301.37255859375,
                        "z": 372.765380859375
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -85.53351593017578,
                        "y": 4298.12255859375,
                        "z": 372.765380859375
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02777613140642643,
                "transform": {
                    "location": {
                        "x": 21.521093368530273,
                        "y": 4290.9892578125,
                        "z": 372.2723083496094
                    },
                    "rotation": {
                        "roll": 0.00013140520604792982,
                        "pitch": 0.2749629020690918,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0001464733068132773,
                    "y": 0.00012918234278913587,
                    "z": 0.027775444090366364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.06108631193637848,
                "transform": {
                    "location": {
                        "x": 6.521015644073486,
                        "y": 4291.078125,
                        "z": 372.3260498046875
                    },
                    "rotation": {
                        "roll": 0.0011009867303073406,
                        "pitch": 0.2644580900669098,
                        "yaw": 179.66253662109375
                    }
                },
                "velocity": {
                    "x": 0.000299151724902913,
                    "y": -4.548394372250186e-06,
                    "z": 0.06108558177947998
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10291188955307007,
                "transform": {
                    "location": {
                        "x": -23.478124618530273,
                        "y": 4291.25537109375,
                        "z": 372.46905517578125
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.24111932516098022,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.00044389528920874,
                    "y": -2.516975291655399e-05,
                    "z": 0.10291092842817307
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1025838851928711,
                "transform": {
                    "location": {
                        "x": -38.47789001464844,
                        "y": 4291.34423828125,
                        "z": 372.5318298339844
                    },
                    "rotation": {
                        "roll": 0.0005590745131485164,
                        "pitch": 0.23937763273715973,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00043659491348080337,
                    "y": -5.4309719416778535e-05,
                    "z": 0.10258293896913528
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0513073094189167,
                "transform": {
                    "location": {
                        "x": 21.540390014648438,
                        "y": 4294.2392578125,
                        "z": 372.2688903808594
                    },
                    "rotation": {
                        "roll": 9.95925729512237e-05,
                        "pitch": 0.2715136706829071,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0002579904394224286,
                    "y": 4.113734030397609e-05,
                    "z": 0.051306646317243576
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02759953960776329,
                "transform": {
                    "location": {
                        "x": 6.540546894073486,
                        "y": 4294.328125,
                        "z": 372.34228515625
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.2653733193874359,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": 0.00015842451830394566,
                    "y": -0.00016695554950274527,
                    "z": 0.027598580345511436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.027684258297085762,
                "transform": {
                    "location": {
                        "x": -23.458906173706055,
                        "y": 4294.50537109375,
                        "z": 372.4739074707031
                    },
                    "rotation": {
                        "roll": 0.0010399193270131946,
                        "pitch": 0.2452857345342636,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": 0.00014754291623830795,
                    "y": 0.00022685225121676922,
                    "z": 0.027682935819029808
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09461547434329987,
                "transform": {
                    "location": {
                        "x": -38.45867156982422,
                        "y": 4294.59423828125,
                        "z": 372.5421142578125
                    },
                    "rotation": {
                        "roll": 0.00018955589621327817,
                        "pitch": 0.23786816000938416,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.000402125675464049,
                    "y": 4.574087506625801e-05,
                    "z": 0.09461461007595062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0009660507785156369,
        "expert_target_speed": 1.0074148275625596,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "15": {
        "acceleration": [
            -7.424280920531601e-05,
            -0.0006408132612705231,
            0.0040307980962097645
        ],
        "angular_velocity": [
            0.006252364255487919,
            -0.0018192382995039225,
            3.540229954523966e-05
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005909261293709278,
            0.004493817687034607
        ],
        "right_vector": [
            -0.005909246858209372,
            -0.9999825358390808,
            1.651142883929424e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.42181396484375
        ],
        "rotation": [
            -0.0009460446308366954,
            0.25747764110565186,
            179.6614227294922
        ],
        "velocity": [
            3.9444116737286095e-06,
            -3.5477754863677546e-05,
            0.0003037955320905894
        ],
        "speed": 3.569635098464607e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.999612808227539,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.478124618530273,
                4291.25537109375,
                372.484375
            ],
            "velocity": [
                0.00010879724868573248,
                -0.000113728987344075,
                0.023504700511693954
            ],
            "speed_kmh": 0.08461881880407748,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.43109130859375,
                        "y": 4301.3603515625,
                        "z": 372.7493591308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.45030975341797,
                        "y": 4298.1103515625,
                        "z": 372.7493591308594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9191165566444397,
                "transform": {
                    "location": {
                        "x": 21.450702667236328,
                        "y": 4290.9892578125,
                        "z": 372.2795104980469
                    },
                    "rotation": {
                        "roll": -0.009674072265625,
                        "pitch": 0.4965410530567169,
                        "yaw": 179.70877075195312
                    }
                },
                "velocity": {
                    "x": -0.9186638593673706,
                    "y": -0.005539909936487675,
                    "z": 0.028305338695645332
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.13964374363422394,
                "transform": {
                    "location": {
                        "x": 6.513827800750732,
                        "y": 4291.078125,
                        "z": 372.3576965332031
                    },
                    "rotation": {
                        "roll": -5.211081913203408e-11,
                        "pitch": 0.278637558221817,
                        "yaw": 179.66502380371094
                    }
                },
                "velocity": {
                    "x": -0.08198139071464539,
                    "y": -0.0009470978984609246,
                    "z": 0.11304216086864471
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023505227640271187,
                "transform": {
                    "location": {
                        "x": -23.478124618530273,
                        "y": 4291.25537109375,
                        "z": 372.484375
                    },
                    "rotation": {
                        "roll": 0.0005260130274109542,
                        "pitch": 0.24121494591236115,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.00010879724868573248,
                    "y": -0.000113728987344075,
                    "z": 0.023504700511693954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023225747048854828,
                "transform": {
                    "location": {
                        "x": -38.47789001464844,
                        "y": 4291.34423828125,
                        "z": 372.5471496582031
                    },
                    "rotation": {
                        "roll": 0.0007246143650263548,
                        "pitch": 0.23943227529525757,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00010612777987262234,
                    "y": -5.988134944345802e-05,
                    "z": 0.02322542667388916
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0726444721221924,
                "transform": {
                    "location": {
                        "x": 21.448436737060547,
                        "y": 4294.23828125,
                        "z": 372.27667236328125
                    },
                    "rotation": {
                        "roll": -0.002593993442133069,
                        "pitch": 0.33562180399894714,
                        "yaw": 179.62527465820312
                    }
                },
                "velocity": {
                    "x": -1.0723069906234741,
                    "y": -0.01008594036102295,
                    "z": 0.02494649775326252
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9301963448524475,
                "transform": {
                    "location": {
                        "x": 6.473984241485596,
                        "y": 4294.32763671875,
                        "z": 372.3495178222656
                    },
                    "rotation": {
                        "roll": -0.007568356115370989,
                        "pitch": 0.4794519245624542,
                        "yaw": 179.6610107421875
                    }
                },
                "velocity": {
                    "x": -0.9297682642936707,
                    "y": -0.004263808485120535,
                    "z": 0.027892788872122765
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9047484993934631,
                "transform": {
                    "location": {
                        "x": -23.525312423706055,
                        "y": 4294.50537109375,
                        "z": 372.4811096191406
                    },
                    "rotation": {
                        "roll": -0.006011961493641138,
                        "pitch": 0.4561541676521301,
                        "yaw": 179.7285614013672
                    }
                },
                "velocity": {
                    "x": -0.9043338298797607,
                    "y": -0.001543268677778542,
                    "z": 0.027345972135663033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02075790986418724,
                "transform": {
                    "location": {
                        "x": -38.45867156982422,
                        "y": 4294.59423828125,
                        "z": 372.5560607910156
                    },
                    "rotation": {
                        "roll": -3.051761450478807e-05,
                        "pitch": 0.23788180947303772,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00010143458348466083,
                    "y": -3.494069096632302e-05,
                    "z": 0.020757632330060005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0002187543286709115,
        "expert_target_speed": 1.0055713882023114,
        "target_point": [
            50.99916373259374,
            -0.00040785361772149864
        ],
        "target_point_next": [
            101.99917238163903,
            -0.00032242483029754077
        ]
    },
    "20": {
        "acceleration": [
            -0.03836647421121597,
            -1.8634455045685172e-05,
            -0.004961523227393627
        ],
        "angular_velocity": [
            0.01304203923791647,
            -0.005989221855998039,
            -0.012173154391348362
        ],
        "forward_vector": [
            -0.9999724626541138,
            0.005910214968025684,
            0.004491790663450956
        ],
        "right_vector": [
            -0.005910176318138838,
            -0.9999825358390808,
            2.1837699023308232e-05
        ],
        "location": [
            -8.47890567779541,
            4291.16650390625,
            372.4219055175781
        ],
        "rotation": [
            -0.0012512205867096782,
            0.257361501455307,
            179.66136169433594
        ],
        "velocity": [
            -0.0019191931933164597,
            -3.357037712703459e-05,
            0.001333164400421083
        ],
        "speed": 0.0019194867760661133,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.206644058227539,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -23.685155868530273,
                4291.2548828125,
                372.4865417480469
            ],
            "velocity": [
                -1.9522236585617065,
                -0.013972568325698376,
                0.007683820556849241
            ],
            "speed_kmh": 7.0282396138068455,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -81.34788513183594,
                        "y": 4301.34814453125,
                        "z": 372.73345947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -81.36711120605469,
                        "y": 4298.09814453125,
                        "z": 372.73345947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8186484575271606,
                "transform": {
                    "location": {
                        "x": 21.090858459472656,
                        "y": 4290.9873046875,
                        "z": 372.28424072265625
                    },
                    "rotation": {
                        "roll": -0.012573241256177425,
                        "pitch": 0.6536080837249756,
                        "yaw": 179.8009033203125
                    }
                },
                "velocity": {
                    "x": -1.818544626235962,
                    "y": -0.0104379178956151,
                    "z": 0.016391800716519356
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.758345901966095,
                "transform": {
                    "location": {
                        "x": 6.414531230926514,
                        "y": 4291.07763671875,
                        "z": 372.3687438964844
                    },
                    "rotation": {
                        "roll": -0.006591796875,
                        "pitch": 0.4051668047904968,
                        "yaw": 179.65170288085938
                    }
                },
                "velocity": {
                    "x": -0.758327305316925,
                    "y": -0.00530595937743783,
                    "z": 0.0002044772991212085
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9522888660430908,
                "transform": {
                    "location": {
                        "x": -23.685155868530273,
                        "y": 4291.2548828125,
                        "z": 372.4865417480469
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.74838256835938
                    }
                },
                "velocity": {
                    "x": -1.9522236585617065,
                    "y": -0.013972568325698376,
                    "z": 0.007683820556849241
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9748929738998413,
                "transform": {
                    "location": {
                        "x": -38.68734359741211,
                        "y": 4291.34326171875,
                        "z": 372.54925537109375
                    },
                    "rotation": {
                        "roll": 4.285724207875319e-05,
                        "pitch": 0.2790473699569702,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": -1.974836826324463,
                    "y": -0.013461309485137463,
                    "z": 0.006352128926664591
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5128943920135498,
                "transform": {
                    "location": {
                        "x": 21.160234451293945,
                        "y": 4294.2373046875,
                        "z": 372.27984619140625
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.30788442492485046,
                        "yaw": 179.7781219482422
                    }
                },
                "velocity": {
                    "x": -1.5128237009048462,
                    "y": -0.011680041439831257,
                    "z": 0.008799009025096893
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.84540593624115,
                "transform": {
                    "location": {
                        "x": 6.114921569824219,
                        "y": 4294.32666015625,
                        "z": 372.35400390625
                    },
                    "rotation": {
                        "roll": -0.012969969771802425,
                        "pitch": 0.6547009348869324,
                        "yaw": 179.7941436767578
                    }
                },
                "velocity": {
                    "x": -1.8452938795089722,
                    "y": -0.01141086034476757,
                    "z": 0.01683502085506916
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8266820907592773,
                "transform": {
                    "location": {
                        "x": -23.879764556884766,
                        "y": 4294.50390625,
                        "z": 372.48553466796875
                    },
                    "rotation": {
                        "roll": -0.012756348587572575,
                        "pitch": 0.6208915114402771,
                        "yaw": 179.8477020263672
                    }
                },
                "velocity": {
                    "x": -1.8265769481658936,
                    "y": -0.01196365524083376,
                    "z": 0.015531806275248528
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.188015937805176,
                "transform": {
                    "location": {
                        "x": -38.690467834472656,
                        "y": 4294.59326171875,
                        "z": 372.5599670410156
                    },
                    "rotation": {
                        "roll": 0.006174152251332998,
                        "pitch": 0.04867875576019287,
                        "yaw": 179.75973510742188
                    }
                },
                "velocity": {
                    "x": -2.1879310607910156,
                    "y": -0.017680589109659195,
                    "z": 0.00769087765365839
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00019867811352014542,
        "expert_target_speed": 1.0198432761549165,
        "target_point": [
            50.999163733125,
            -0.00033489872880620997
        ],
        "target_point_next": [
            101.99917238199589,
            -0.00017651384380479307
        ]
    },
    "25": {
        "acceleration": [
            -3.5756635665893555,
            -0.005733836442232132,
            0.04391670227050781
        ],
        "angular_velocity": [
            0.04409150406718254,
            0.440634161233902,
            -0.161298006772995
        ],
        "forward_vector": [
            -0.9999383091926575,
            0.005627733655273914,
            0.009574743919074535
        ],
        "right_vector": [
            -0.0056278589181602,
            -0.9999841451644897,
            1.384780443913769e-05
        ],
        "location": [
            -8.670937538146973,
            4291.16796875,
            372.4217529296875
        ],
        "rotation": [
            -0.0007934571476653218,
            0.5486007928848267,
            179.6775360107422
        ],
        "velocity": [
            -1.1890937089920044,
            0.007501834537833929,
            0.0053845117799937725
        ],
        "speed": 1.1891173727962243,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.65107250213623,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -24.321640014648438,
                4291.251953125,
                372.4890441894531
            ],
            "velocity": [
                -2.9923055171966553,
                -0.021088402718305588,
                0.010732783935964108
            ],
            "speed_kmh": 10.772636668535236,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.26468658447266,
                        "y": 4301.33544921875,
                        "z": 372.7232360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.28390502929688,
                        "y": 4298.08544921875,
                        "z": 372.7232360839844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.974696636199951,
                "transform": {
                    "location": {
                        "x": 20.492733001708984,
                        "y": 4290.984375,
                        "z": 372.2878723144531
                    },
                    "rotation": {
                        "roll": -0.013397215865552425,
                        "pitch": 0.7285489439964294,
                        "yaw": 179.98468017578125
                    }
                },
                "velocity": {
                    "x": -2.9745967388153076,
                    "y": -0.01964750327169895,
                    "z": 0.014463910833001137
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8127995729446411,
                "transform": {
                    "location": {
                        "x": 6.11046838760376,
                        "y": 4291.076171875,
                        "z": 372.3647155761719
                    },
                    "rotation": {
                        "roll": -0.008209227584302425,
                        "pitch": 0.4971626102924347,
                        "yaw": 179.7430419921875
                    }
                },
                "velocity": {
                    "x": -1.8127312660217285,
                    "y": -0.010985588654875755,
                    "z": -0.011286688037216663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.992399215698242,
                "transform": {
                    "location": {
                        "x": -24.321640014648438,
                        "y": 4291.251953125,
                        "z": 372.4890441894531
                    },
                    "rotation": {
                        "roll": 0.0006740101962350309,
                        "pitch": 0.27186882495880127,
                        "yaw": 179.90284729003906
                    }
                },
                "velocity": {
                    "x": -2.9923055171966553,
                    "y": -0.021088402718305588,
                    "z": 0.010732783935964108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9742939472198486,
                "transform": {
                    "location": {
                        "x": -39.323123931884766,
                        "y": 4291.34033203125,
                        "z": 372.5516357421875
                    },
                    "rotation": {
                        "roll": 0.0005547068431042135,
                        "pitch": 0.26863133907318115,
                        "yaw": 179.8732452392578
                    }
                },
                "velocity": {
                    "x": -2.974198818206787,
                    "y": -0.02113390900194645,
                    "z": 0.010922985151410103
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4567723274230957,
                "transform": {
                    "location": {
                        "x": 20.663984298706055,
                        "y": 4294.234375,
                        "z": 372.2821044921875
                    },
                    "rotation": {
                        "roll": 0.0006363526917994022,
                        "pitch": 0.3410518169403076,
                        "yaw": 179.93771362304688
                    }
                },
                "velocity": {
                    "x": -2.4566562175750732,
                    "y": -0.020940883085131645,
                    "z": 0.01150880753993988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9852333068847656,
                "transform": {
                    "location": {
                        "x": 5.512343406677246,
                        "y": 4294.3232421875,
                        "z": 372.3576965332031
                    },
                    "rotation": {
                        "roll": -0.01336669921875,
                        "pitch": 0.7188910245895386,
                        "yaw": 179.97988891601562
                    }
                },
                "velocity": {
                    "x": -2.985133647918701,
                    "y": -0.01969112828373909,
                    "z": 0.014340238645672798
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.990513801574707,
                "transform": {
                    "location": {
                        "x": -24.481170654296875,
                        "y": 4294.50048828125,
                        "z": 372.48883056640625
                    },
                    "rotation": {
                        "roll": -0.01266479305922985,
                        "pitch": 0.7068426012992859,
                        "yaw": -179.99636840820312
                    }
                },
                "velocity": {
                    "x": -2.990415334701538,
                    "y": -0.019929077476263046,
                    "z": 0.013865623623132706
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.337153196334839,
                "transform": {
                    "location": {
                        "x": -39.39453125,
                        "y": 4294.58935546875,
                        "z": 372.5622253417969
                    },
                    "rotation": {
                        "roll": 0.004252882208675146,
                        "pitch": 0.09498060494661331,
                        "yaw": 179.95828247070312
                    }
                },
                "velocity": {
                    "x": -3.3370137214660645,
                    "y": -0.027477161958813667,
                    "z": 0.013244971632957458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0019746229518204927,
        "expert_target_speed": 2.199160561911137,
        "target_point": [
            50.807124536524626,
            -0.014371504353336617
        ],
        "target_point_next": [
            101.8071311913098,
            -0.02863410790362375
        ]
    },
    "30": {
        "acceleration": [
            -3.014554977416992,
            0.03614593297243118,
            0.016287043690681458
        ],
        "angular_velocity": [
            0.014697512611746788,
            0.012807571329176426,
            0.07430949062108994
        ],
        "forward_vector": [
            -0.9999359846115112,
            0.005591482389718294,
            0.009836515411734581
        ],
        "right_vector": [
            -0.00559156434610486,
            -0.9999843835830688,
            1.917383269756101e-05
        ],
        "location": [
            -9.047968864440918,
            4291.169921875,
            372.4234313964844
        ],
        "rotation": [
            -0.0010986328125,
            0.5635998845100403,
            179.6796112060547
        ],
        "velocity": [
            -1.8377388715744019,
            0.011227518320083618,
            0.007422666531056166
        ],
        "speed": 1.8377731680659568,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.12095832824707,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -25.16859245300293,
                4291.2470703125,
                372.49261474609375
            ],
            "velocity": [
                -3.7465689182281494,
                -0.029217883944511414,
                0.014546489343047142
            ],
            "speed_kmh": 13.488159901035216,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.641354560852051,
                "transform": {
                    "location": {
                        "x": -77.30452728271484,
                        "y": 4301.3251953125,
                        "z": 372.7142639160156
                    },
                    "rotation": {
                        "roll": -0.011627196334302425,
                        "pitch": -0.4742063581943512,
                        "yaw": -0.2742919921875
                    }
                },
                "velocity": {
                    "x": 6.641268730163574,
                    "y": -0.010201808996498585,
                    "z": -0.03219172731041908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.859942436218262,
                "transform": {
                    "location": {
                        "x": -77.40164184570312,
                        "y": 4298.07763671875,
                        "z": 372.71441650390625
                    },
                    "rotation": {
                        "roll": -0.02056884765625,
                        "pitch": -0.4430265426635742,
                        "yaw": -0.185333251953125
                    }
                },
                "velocity": {
                    "x": 6.859859466552734,
                    "y": 0.005182670895010233,
                    "z": -0.03328966721892357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.38419246673584,
                "transform": {
                    "location": {
                        "x": 19.560468673706055,
                        "y": 4290.978515625,
                        "z": 372.29193115234375
                    },
                    "rotation": {
                        "roll": -0.012786864303052425,
                        "pitch": 0.849101722240448,
                        "yaw": -179.8249969482422
                    }
                },
                "velocity": {
                    "x": -4.3840250968933105,
                    "y": -0.032364897429943085,
                    "z": 0.020523756742477417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1824347972869873,
                "transform": {
                    "location": {
                        "x": 5.486640453338623,
                        "y": 4291.07373046875,
                        "z": 372.36456298828125
                    },
                    "rotation": {
                        "roll": -0.010162349790334702,
                        "pitch": 0.5835235118865967,
                        "yaw": 179.958251953125
                    }
                },
                "velocity": {
                    "x": -3.1823272705078125,
                    "y": -0.0221551526337862,
                    "z": 0.013872985728085041
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.746711015701294,
                "transform": {
                    "location": {
                        "x": -25.16859245300293,
                        "y": 4291.2470703125,
                        "z": 372.49261474609375
                    },
                    "rotation": {
                        "roll": 0.0014148375485092402,
                        "pitch": 0.26048973202705383,
                        "yaw": -179.909423828125
                    }
                },
                "velocity": {
                    "x": -3.7465689182281494,
                    "y": -0.029217883944511414,
                    "z": 0.014546489343047142
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.742157220840454,
                "transform": {
                    "location": {
                        "x": -40.168983459472656,
                        "y": 4291.3359375,
                        "z": 372.5552673339844
                    },
                    "rotation": {
                        "roll": 0.0013725506141781807,
                        "pitch": 0.258392870426178,
                        "yaw": -179.92176818847656
                    }
                },
                "velocity": {
                    "x": -3.7420170307159424,
                    "y": -0.029144970700144768,
                    "z": 0.014110221527516842
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.143682479858398,
                "transform": {
                    "location": {
                        "x": 19.839921951293945,
                        "y": 4294.228515625,
                        "z": 372.2857666015625
                    },
                    "rotation": {
                        "roll": 0.0007330179796554148,
                        "pitch": 0.36999133229255676,
                        "yaw": -179.9777069091797
                    }
                },
                "velocity": {
                    "x": -4.143509387969971,
                    "y": -0.03262218087911606,
                    "z": 0.019206952303647995
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.3850932121276855,
                "transform": {
                    "location": {
                        "x": 4.578906059265137,
                        "y": 4294.3173828125,
                        "z": 372.3616027832031
                    },
                    "rotation": {
                        "roll": -0.01385497860610485,
                        "pitch": 0.8366844654083252,
                        "yaw": -179.82546997070312
                    }
                },
                "velocity": {
                    "x": -4.384929180145264,
                    "y": -0.03226296231150627,
                    "z": 0.01994500122964382
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.399281978607178,
                "transform": {
                    "location": {
                        "x": -25.417499542236328,
                        "y": 4294.49462890625,
                        "z": 372.49249267578125
                    },
                    "rotation": {
                        "roll": -0.011688232421875,
                        "pitch": 0.8218356370925903,
                        "yaw": -179.8093719482422
                    }
                },
                "velocity": {
                    "x": -4.399125099182129,
                    "y": -0.03247249126434326,
                    "z": 0.018012991175055504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4639153480529785,
                "transform": {
                    "location": {
                        "x": -40.37507629394531,
                        "y": 4294.58251953125,
                        "z": 372.5660400390625
                    },
                    "rotation": {
                        "roll": 0.004818764515221119,
                        "pitch": 0.12168664485216141,
                        "yaw": -179.84144592285156
                    }
                },
                "velocity": {
                    "x": -4.463717460632324,
                    "y": -0.03764379024505615,
                    "z": 0.01862511597573757
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0004184934950899333,
        "expert_target_speed": 2.8501700581076355,
        "target_point": [
            50.430087636891756,
            -0.01634370868139029
        ],
        "target_point_next": [
            101.43009374899255,
            -0.032430214590288386
        ]
    },
    "35": {
        "acceleration": [
            -3.4409236907958984,
            0.023430082947015762,
            0.006218720227479935
        ],
        "angular_velocity": [
            0.016281262040138245,
            0.22337283194065094,
            -0.11941712349653244
        ],
        "forward_vector": [
            -0.9999336004257202,
            0.005796263925731182,
            0.009958697482943535
        ],
        "right_vector": [
            -0.005796554498374462,
            -0.9999831914901733,
            -3.088225639658049e-07
        ],
        "location": [
            -9.59195327758789,
            4291.17333984375,
            372.42578125
        ],
        "rotation": [
            1.769510708982125e-05,
            0.5706008076667786,
            179.66787719726562
        ],
        "velocity": [
            -2.5535027980804443,
            0.016192540526390076,
            0.010420484468340874
        ],
        "speed": 2.5535541384848996,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.607711791992188,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -26.19937515258789,
                4291.24072265625,
                372.4969177246094
            ],
            "velocity": [
                -4.4749531745910645,
                -0.014504791237413883,
                0.017787236720323563
            ],
            "speed_kmh": 16.11004331640544,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.856968402862549,
                "transform": {
                    "location": {
                        "x": -75.6148452758789,
                        "y": 4301.33154296875,
                        "z": 372.7066955566406
                    },
                    "rotation": {
                        "roll": -0.02633666805922985,
                        "pitch": -0.30642959475517273,
                        "yaw": 0.2240332067012787
                    }
                },
                "velocity": {
                    "x": 6.85675048828125,
                    "y": 0.045809779316186905,
                    "z": -0.029818709939718246
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.635838985443115,
                "transform": {
                    "location": {
                        "x": -75.71460723876953,
                        "y": 4298.08544921875,
                        "z": 372.70703125
                    },
                    "rotation": {
                        "roll": -0.020660400390625,
                        "pitch": -0.2944630980491638,
                        "yaw": 0.2561013698577881
                    }
                },
                "velocity": {
                    "x": 6.635631561279297,
                    "y": 0.044162265956401825,
                    "z": -0.028349246829748154
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.350866794586182,
                "transform": {
                    "location": {
                        "x": 18.307031631469727,
                        "y": 4290.97314453125,
                        "z": 372.29840087890625
                    },
                    "rotation": {
                        "roll": 0.019159168004989624,
                        "pitch": 0.8081411123275757,
                        "yaw": -179.7860870361328
                    }
                },
                "velocity": {
                    "x": -5.350795269012451,
                    "y": -0.010704904794692993,
                    "z": 0.025494661182165146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.242876052856445,
                "transform": {
                    "location": {
                        "x": 4.419687271118164,
                        "y": 4291.0673828125,
                        "z": 372.3689880371094
                    },
                    "rotation": {
                        "roll": -0.008453369140625,
                        "pitch": 0.7262676358222961,
                        "yaw": -179.83584594726562
                    }
                },
                "velocity": {
                    "x": -5.242641448974609,
                    "y": -0.03998616337776184,
                    "z": 0.029405441135168076
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.475011825561523,
                "transform": {
                    "location": {
                        "x": -26.19937515258789,
                        "y": 4291.24072265625,
                        "z": 372.4969177246094
                    },
                    "rotation": {
                        "roll": 0.0026666896883398294,
                        "pitch": 0.25738200545310974,
                        "yaw": -179.76063537597656
                    }
                },
                "velocity": {
                    "x": -4.4749531745910645,
                    "y": -0.014504791237413883,
                    "z": 0.017787236720323563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.470279693603516,
                "transform": {
                    "location": {
                        "x": -41.19866943359375,
                        "y": 4291.32958984375,
                        "z": 372.5594787597656
                    },
                    "rotation": {
                        "roll": 0.003032536944374442,
                        "pitch": 0.25557199120521545,
                        "yaw": -179.768310546875
                    }
                },
                "velocity": {
                    "x": -4.470218181610107,
                    "y": -0.014741684310138226,
                    "z": 0.018258504569530487
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.086039066314697,
                "transform": {
                    "location": {
                        "x": 18.61585807800293,
                        "y": 4294.22265625,
                        "z": 372.2915954589844
                    },
                    "rotation": {
                        "roll": 0.007348785176873207,
                        "pitch": 0.35373547673225403,
                        "yaw": -179.80992126464844
                    }
                },
                "velocity": {
                    "x": -5.085973262786865,
                    "y": -0.009686551056802273,
                    "z": 0.024012498557567596
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.290445804595947,
                "transform": {
                    "location": {
                        "x": 3.329531192779541,
                        "y": 4294.31201171875,
                        "z": 372.3677673339844
                    },
                    "rotation": {
                        "roll": 0.018125517293810844,
                        "pitch": 0.7827669382095337,
                        "yaw": -179.80624389648438
                    }
                },
                "velocity": {
                    "x": -5.2903733253479,
                    "y": -0.010452523827552795,
                    "z": 0.025628557428717613
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.462573051452637,
                "transform": {
                    "location": {
                        "x": -26.675390243530273,
                        "y": 4294.48876953125,
                        "z": 372.4981689453125
                    },
                    "rotation": {
                        "roll": 0.021861786022782326,
                        "pitch": 0.786769449710846,
                        "yaw": -179.83670043945312
                    }
                },
                "velocity": {
                    "x": -5.462510108947754,
                    "y": -0.010056535713374615,
                    "z": 0.02423141337931156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.302968978881836,
                "transform": {
                    "location": {
                        "x": -41.62125015258789,
                        "y": 4294.57763671875,
                        "z": 372.5713195800781
                    },
                    "rotation": {
                        "roll": -0.003997801803052425,
                        "pitch": 0.1465895175933838,
                        "yaw": -179.82676696777344
                    }
                },
                "velocity": {
                    "x": -5.302912712097168,
                    "y": -0.006480132229626179,
                    "z": 0.023546867072582245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.000687134510371834,
        "expert_target_speed": 3.562570111773558,
        "target_point": [
            49.886094838543244,
            -0.005762804744572025
        ],
        "target_point_next": [
            100.88610317427506,
            -0.011416588955016294
        ]
    },
    "40": {
        "acceleration": [
            -4.075555801391602,
            0.030696876347064972,
            0.01918487250804901
        ],
        "angular_velocity": [
            -0.02508677914738655,
            0.2899077534675598,
            0.03608487546443939
        ],
        "forward_vector": [
            -0.9999189972877502,
            0.006035778671503067,
            0.011201146990060806
        ],
        "right_vector": [
            -0.0060363332740962505,
            -0.9999817609786987,
            -1.5689245628891513e-05
        ],
        "location": [
            -10.35335922241211,
            4291.17822265625,
            372.4288635253906
        ],
        "rotation": [
            0.0008989839116111398,
            0.6417918801307678,
            179.65415954589844
        ],
        "velocity": [
            -3.5161678791046143,
            0.0230539720505476,
            0.015254516154527664
        ],
        "speed": 3.516243455688805,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.065885543823242,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -27.418983459472656,
                4291.23779296875,
                372.5021667480469
            ],
            "velocity": [
                -5.265254974365234,
                -0.00757700065150857,
                0.024214811623096466
            ],
            "speed_kmh": 18.955137987416972,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.63275671005249,
                "transform": {
                    "location": {
                        "x": -73.92961120605469,
                        "y": 4301.337890625,
                        "z": 372.6996765136719
                    },
                    "rotation": {
                        "roll": -0.00213623046875,
                        "pitch": -0.25765520334243774,
                        "yaw": 0.2111360877752304
                    }
                },
                "velocity": {
                    "x": 6.632665157318115,
                    "y": 0.020720597356557846,
                    "z": -0.027981141582131386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.510048866271973,
                "transform": {
                    "location": {
                        "x": -74.03093719482422,
                        "y": 4298.09130859375,
                        "z": 372.6999816894531
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": -0.2647039592266083,
                        "yaw": 0.19996750354766846
                    }
                },
                "velocity": {
                    "x": 6.509964942932129,
                    "y": 0.018380574882030487,
                    "z": -0.027433456853032112
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.141091346740723,
                "transform": {
                    "location": {
                        "x": 16.936874389648438,
                        "y": 4290.97119140625,
                        "z": 372.305419921875
                    },
                    "rotation": {
                        "roll": 0.011368518695235252,
                        "pitch": 0.6388548612594604,
                        "yaw": -179.8355712890625
                    }
                },
                "velocity": {
                    "x": -6.141019821166992,
                    "y": -0.010273562744259834,
                    "z": 0.027754897251725197
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.407698631286621,
                "transform": {
                    "location": {
                        "x": 3.05078125,
                        "y": 4291.06396484375,
                        "z": 372.3779296875
                    },
                    "rotation": {
                        "roll": 0.014880199916660786,
                        "pitch": 0.46118801832199097,
                        "yaw": -179.5174560546875
                    }
                },
                "velocity": {
                    "x": -5.407619953155518,
                    "y": -0.01577930338680744,
                    "z": 0.024454660713672638
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.265316009521484,
                "transform": {
                    "location": {
                        "x": -27.418983459472656,
                        "y": 4291.23779296875,
                        "z": 372.5021667480469
                    },
                    "rotation": {
                        "roll": 0.0038223564624786377,
                        "pitch": 0.2578805983066559,
                        "yaw": -179.8299102783203
                    }
                },
                "velocity": {
                    "x": -5.265254974365234,
                    "y": -0.00757700065150857,
                    "z": 0.024214811623096466
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.224791526794434,
                "transform": {
                    "location": {
                        "x": -42.416561126708984,
                        "y": 4291.32666015625,
                        "z": 372.56475830078125
                    },
                    "rotation": {
                        "roll": 0.002789601217955351,
                        "pitch": 0.25758689641952515,
                        "yaw": -179.8362274169922
                    }
                },
                "velocity": {
                    "x": -5.224730491638184,
                    "y": -0.00783976074308157,
                    "z": 0.02401530183851719
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.414605140686035,
                "transform": {
                    "location": {
                        "x": 17.014999389648438,
                        "y": 4294.2197265625,
                        "z": 372.298828125
                    },
                    "rotation": {
                        "roll": 0.0036785397678613663,
                        "pitch": 0.40543317794799805,
                        "yaw": -179.89935302734375
                    }
                },
                "velocity": {
                    "x": -7.414520740509033,
                    "y": -0.008137323893606663,
                    "z": 0.03451983258128166
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.201106548309326,
                "transform": {
                    "location": {
                        "x": 1.9642187356948853,
                        "y": 4294.31005859375,
                        "z": 372.37445068359375
                    },
                    "rotation": {
                        "roll": 0.011175465770065784,
                        "pitch": 0.6428437232971191,
                        "yaw": -179.86570739746094
                    }
                },
                "velocity": {
                    "x": -6.201037406921387,
                    "y": -0.008919312618672848,
                    "z": 0.027916572988033295
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.273923397064209,
                "transform": {
                    "location": {
                        "x": -28.073593139648438,
                        "y": 4294.48681640625,
                        "z": 372.5046081542969
                    },
                    "rotation": {
                        "roll": 0.015036748722195625,
                        "pitch": 0.6385133862495422,
                        "yaw": -179.9083709716797
                    }
                },
                "velocity": {
                    "x": -6.27386474609375,
                    "y": -0.00883258506655693,
                    "z": 0.025762729346752167
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.775814056396484,
                "transform": {
                    "location": {
                        "x": -42.994529724121094,
                        "y": 4294.5751953125,
                        "z": 372.5767517089844
                    },
                    "rotation": {
                        "roll": 0.0004346648056525737,
                        "pitch": 0.1774141490459442,
                        "yaw": -179.8946533203125
                    }
                },
                "velocity": {
                    "x": -5.775766849517822,
                    "y": -0.007139743305742741,
                    "z": 0.022258156910538673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0009580724290572107,
        "expert_target_speed": 4.501428967007549,
        "target_point": [
            49.124673241765144,
            0.006465605166504629
        ],
        "target_point_next": [
            100.12468146972935,
            0.013019807921113569
        ]
    },
    "45": {
        "acceleration": [
            -3.6119556427001953,
            0.03222838044166565,
            0.011115074157714844
        ],
        "angular_velocity": [
            0.003229111898690462,
            -0.02434789016842842,
            -0.08556932955980301
        ],
        "forward_vector": [
            -0.999909520149231,
            0.006380694918334484,
            0.011840901337563992
        ],
        "right_vector": [
            -0.006381632760167122,
            -0.9999796152114868,
            -4.142480611335486e-05
        ],
        "location": [
            -11.361093521118164,
            4291.18505859375,
            372.43310546875
        ],
        "rotation": [
            0.002373632974922657,
            0.6784495115280151,
            179.63438415527344
        ],
        "velocity": [
            -4.476947784423828,
            0.03074798732995987,
            0.018387870863080025
        ],
        "speed": 4.47705337283154,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.411327362060547,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -28.772186279296875,
                4291.2353515625,
                372.5079650878906
            ],
            "velocity": [
                -5.75478982925415,
                -0.007246631663292646,
                0.02182786911725998
            ],
            "speed_kmh": 20.717408837294848,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.722153663635254,
                "transform": {
                    "location": {
                        "x": -72.40773010253906,
                        "y": 4301.34228515625,
                        "z": 372.6932678222656
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.353878915309906,
                        "yaw": 0.15668879449367523
                    }
                },
                "velocity": {
                    "x": 5.722080707550049,
                    "y": 0.014673206023871899,
                    "z": -0.024949856102466583
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.684791088104248,
                "transform": {
                    "location": {
                        "x": -72.55867004394531,
                        "y": 4298.0947265625,
                        "z": 372.69384765625
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": -0.3341738283634186,
                        "yaw": 0.13913258910179138
                    }
                },
                "velocity": {
                    "x": 5.684722900390625,
                    "y": 0.011843626387417316,
                    "z": -0.02514280192553997
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.936136722564697,
                "transform": {
                    "location": {
                        "x": 15.442265510559082,
                        "y": 4290.96826171875,
                        "z": 372.31365966796875
                    },
                    "rotation": {
                        "roll": 0.007966764271259308,
                        "pitch": 0.27699148654937744,
                        "yaw": 179.8933563232422
                    }
                },
                "velocity": {
                    "x": -4.936071395874023,
                    "y": -0.009048707783222198,
                    "z": 0.023704366758465767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006029807962477207,
                "transform": {
                    "location": {
                        "x": 2.498671770095825,
                        "y": 4291.072265625,
                        "z": 372.39068603515625
                    },
                    "rotation": {
                        "roll": -0.0408630333840847,
                        "pitch": -0.8623045086860657,
                        "yaw": -178.77037048339844
                    }
                },
                "velocity": {
                    "x": -0.004030256066471338,
                    "y": 0.0041344743221998215,
                    "z": -0.0017383157974109054
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.754836082458496,
                "transform": {
                    "location": {
                        "x": -28.772186279296875,
                        "y": 4291.2353515625,
                        "z": 372.5079650878906
                    },
                    "rotation": {
                        "roll": 0.0010424727806821465,
                        "pitch": 0.2529287338256836,
                        "yaw": -179.90025329589844
                    }
                },
                "velocity": {
                    "x": -5.75478982925415,
                    "y": -0.007246631663292646,
                    "z": 0.02182786911725998
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.797680854797363,
                "transform": {
                    "location": {
                        "x": -43.768436431884766,
                        "y": 4291.32421875,
                        "z": 372.57049560546875
                    },
                    "rotation": {
                        "roll": 0.003774934448301792,
                        "pitch": 0.25338634848594666,
                        "yaw": -179.89739990234375
                    }
                },
                "velocity": {
                    "x": -5.797632694244385,
                    "y": -0.007417149376124144,
                    "z": 0.022433700039982796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.010891914367676,
                "transform": {
                    "location": {
                        "x": 15.184764862060547,
                        "y": 4294.21826171875,
                        "z": 372.3083190917969
                    },
                    "rotation": {
                        "roll": 0.0017677011201158166,
                        "pitch": 0.283008873462677,
                        "yaw": -179.92974853515625
                    }
                },
                "velocity": {
                    "x": -7.010807514190674,
                    "y": -0.008647775277495384,
                    "z": 0.03333677351474762
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.615848541259766,
                "transform": {
                    "location": {
                        "x": 0.23156249523162842,
                        "y": 4294.3076171875,
                        "z": 372.3814697265625
                    },
                    "rotation": {
                        "roll": 0.006315072998404503,
                        "pitch": 0.8487944006919861,
                        "yaw": -179.90432739257812
                    }
                },
                "velocity": {
                    "x": -7.6157684326171875,
                    "y": -0.01015130989253521,
                    "z": 0.033466584980487823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.690252304077148,
                "transform": {
                    "location": {
                        "x": -29.823593139648438,
                        "y": 4294.484375,
                        "z": 372.51116943359375
                    },
                    "rotation": {
                        "roll": 0.006964279804378748,
                        "pitch": 0.8229284882545471,
                        "yaw": -179.91790771484375
                    }
                },
                "velocity": {
                    "x": -7.690186023712158,
                    "y": -0.009020163677632809,
                    "z": 0.030634192749857903
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.083602428436279,
                "transform": {
                    "location": {
                        "x": -44.55320358276367,
                        "y": 4294.5732421875,
                        "z": 372.583740234375
                    },
                    "rotation": {
                        "roll": 0.0022682815324515104,
                        "pitch": 0.10638701915740967,
                        "yaw": -179.91603088378906
                    }
                },
                "velocity": {
                    "x": -7.083536624908447,
                    "y": -0.007554177660495043,
                    "z": 0.029594553634524345
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0015779056120663881,
        "expert_target_speed": 5.41050789358389,
        "target_point": [
            48.1169106796442,
            0.02383038672871146
        ],
        "target_point_next": [
            99.11691360571241,
            0.04799132681303642
        ]
    },
    "50": {
        "acceleration": [
            -0.4364585876464844,
            0.008334815502166748,
            -0.008091330528259277
        ],
        "angular_velocity": [
            0.0011013195617124438,
            -0.9442556500434875,
            -0.15624919533729553
        ],
        "forward_vector": [
            -0.9999140501022339,
            0.006692800670862198,
            0.011274575255811214
        ],
        "right_vector": [
            -0.0066934856586158276,
            -0.9999775886535645,
            -2.304663030372467e-05
        ],
        "location": [
            -12.59203052520752,
            4291.19384765625,
            372.4386901855469
        ],
        "rotation": [
            0.001320558600127697,
            0.6459992527961731,
            179.6165008544922
        ],
        "velocity": [
            -5.208155632019043,
            0.03749024122953415,
            0.0247952938079834
        ],
        "speed": 5.208290564620904,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.708332061767578,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -30.300155639648438,
                4291.2333984375,
                372.51422119140625
            ],
            "velocity": [
                -6.607210159301758,
                -0.008237938396632671,
                0.026669682934880257
            ],
            "speed_kmh": 23.786168832188427,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.935049057006836,
                "transform": {
                    "location": {
                        "x": -70.95304870605469,
                        "y": 4301.34619140625,
                        "z": 372.6874084472656
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": -0.2351975440979004,
                        "yaw": 0.1326693445444107
                    }
                },
                "velocity": {
                    "x": 5.934983253479004,
                    "y": 0.012561372481286526,
                    "z": -0.02503178082406521
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.956620693206787,
                "transform": {
                    "location": {
                        "x": -71.09148406982422,
                        "y": 4298.09765625,
                        "z": 372.68792724609375
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": -0.2337632179260254,
                        "yaw": 0.11323145776987076
                    }
                },
                "velocity": {
                    "x": 5.956558704376221,
                    "y": 0.01064575370401144,
                    "z": -0.02499327063560486
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.004014842212200165,
                "transform": {
                    "location": {
                        "x": 14.952187538146973,
                        "y": 4290.9619140625,
                        "z": 372.32135009765625
                    },
                    "rotation": {
                        "roll": 0.036524299532175064,
                        "pitch": -1.226162314414978,
                        "yaw": 179.04527282714844
                    }
                },
                "velocity": {
                    "x": -0.0008635926060378551,
                    "y": -0.0037002405151724815,
                    "z": -0.0012966830981895328
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5377362966537476,
                "transform": {
                    "location": {
                        "x": 2.376171827316284,
                        "y": 4291.07177734375,
                        "z": 372.3843688964844
                    },
                    "rotation": {
                        "roll": -0.010589598678052425,
                        "pitch": -0.012963698245584965,
                        "yaw": -178.8260955810547
                    }
                },
                "velocity": {
                    "x": -0.5377168655395508,
                    "y": -0.004005977418273687,
                    "z": 0.002210063859820366
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.607269287109375,
                "transform": {
                    "location": {
                        "x": -30.300155639648438,
                        "y": 4291.2333984375,
                        "z": 372.51422119140625
                    },
                    "rotation": {
                        "roll": 0.003305925289168954,
                        "pitch": 0.2573000490665436,
                        "yaw": -179.92449951171875
                    }
                },
                "velocity": {
                    "x": -6.607210159301758,
                    "y": -0.008237938396632671,
                    "z": 0.026669682934880257
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.557745933532715,
                "transform": {
                    "location": {
                        "x": -45.295780181884766,
                        "y": 4291.322265625,
                        "z": 372.5767517089844
                    },
                    "rotation": {
                        "roll": 0.003318001050502062,
                        "pitch": 0.2556608021259308,
                        "yaw": -179.8960723876953
                    }
                },
                "velocity": {
                    "x": -6.557688236236572,
                    "y": -0.008540614508092403,
                    "z": 0.02611277438700199
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.980311870574951,
                "transform": {
                    "location": {
                        "x": 13.46718692779541,
                        "y": 4294.21728515625,
                        "z": 372.31640625
                    },
                    "rotation": {
                        "roll": 0.004855637904256582,
                        "pitch": 0.26989489793777466,
                        "yaw": -179.98703002929688
                    }
                },
                "velocity": {
                    "x": -6.980225563049316,
                    "y": 0.01359438244253397,
                    "z": 0.031910065561532974
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.686491966247559,
                "transform": {
                    "location": {
                        "x": -1.790468692779541,
                        "y": 4294.306640625,
                        "z": 372.3907775878906
                    },
                    "rotation": {
                        "roll": 0.0234189722687006,
                        "pitch": 0.7568942308425903,
                        "yaw": -179.97512817382812
                    }
                },
                "velocity": {
                    "x": -8.686400413513184,
                    "y": 0.010084051638841629,
                    "z": 0.038621243089437485
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.5639967918396,
                "transform": {
                    "location": {
                        "x": -31.785858154296875,
                        "y": 4294.48388671875,
                        "z": 372.5204162597656
                    },
                    "rotation": {
                        "roll": 0.020487014204263687,
                        "pitch": 0.4955165386199951,
                        "yaw": -179.97804260253906
                    }
                },
                "velocity": {
                    "x": -7.563923358917236,
                    "y": 0.007454670500010252,
                    "z": 0.032531946897506714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.220012664794922,
                "transform": {
                    "location": {
                        "x": -46.491092681884766,
                        "y": 4294.5712890625,
                        "z": 372.591796875
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": 0.11534139513969421,
                        "yaw": -179.9517822265625
                    }
                },
                "velocity": {
                    "x": -8.21993350982666,
                    "y": 0.013802874833345413,
                    "z": 0.03329100459814072
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.004187947604805231,
        "expert_target_speed": 6.090096838489656,
        "target_point": [
            46.88593265018596,
            0.03938613652748979
        ],
        "target_point_next": [
            97.88592556171908,
            0.07945150266639045
        ]
    },
    "55": {
        "acceleration": [
            0.41855812072753906,
            0.007119700312614441,
            -0.01246470957994461
        ],
        "angular_velocity": [
            -0.02901460789144039,
            -0.6189562678337097,
            -0.10709650069475174
        ],
        "forward_vector": [
            -0.9999489784240723,
            0.007495550904422998,
            0.006775565445423126
        ],
        "right_vector": [
            -0.007496207021176815,
            -0.9999719262123108,
            -7.14970228727907e-05
        ],
        "location": [
            -13.871718406677246,
            4291.203125,
            372.44525146484375
        ],
        "rotation": [
            0.004096571821719408,
            0.38821426033973694,
            179.57052612304688
        ],
        "velocity": [
            -5.123630046844482,
            0.04003167152404785,
            0.02102651633322239
        ],
        "speed": 5.123786431112503,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.193931579589844,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -32.065467834472656,
                4291.232421875,
                372.5216064453125
            ],
            "velocity": [
                -7.307079792022705,
                0.009490619413554668,
                0.029441898688673973
            ],
            "speed_kmh": 26.305722968885956,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.024818420410156,
                "transform": {
                    "location": {
                        "x": -69.21875,
                        "y": 4301.34619140625,
                        "z": 372.6805725097656
                    },
                    "rotation": {
                        "roll": 0.0076517933048307896,
                        "pitch": 0.015934830531477928,
                        "yaw": -0.00189208984375
                    }
                },
                "velocity": {
                    "x": 8.024744987487793,
                    "y": -0.008578509092330933,
                    "z": -0.03322731330990791
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.289965629577637,
                "transform": {
                    "location": {
                        "x": -69.24476623535156,
                        "y": 4298.09716796875,
                        "z": 372.68060302734375
                    },
                    "rotation": {
                        "roll": 0.006796354427933693,
                        "pitch": 0.02044275589287281,
                        "yaw": -0.01638794131577015
                    }
                },
                "velocity": {
                    "x": 8.28989028930664,
                    "y": -0.009845340624451637,
                    "z": -0.033825457096099854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.287558674812317,
                "transform": {
                    "location": {
                        "x": 14.741093635559082,
                        "y": 4290.96240234375,
                        "z": 372.3182067871094
                    },
                    "rotation": {
                        "roll": 0.010378388687968254,
                        "pitch": -0.10817652940750122,
                        "yaw": 179.13104248046875
                    }
                },
                "velocity": {
                    "x": -1.2875410318374634,
                    "y": 0.0030544186010956764,
                    "z": 0.006010360550135374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3568774461746216,
                "transform": {
                    "location": {
                        "x": 2.1542186737060547,
                        "y": 4291.0703125,
                        "z": 372.380859375
                    },
                    "rotation": {
                        "roll": 0.016870956867933273,
                        "pitch": 0.5461419224739075,
                        "yaw": -178.89138793945312
                    }
                },
                "velocity": {
                    "x": -1.3568452596664429,
                    "y": -0.0071130297146737576,
                    "z": 0.006058826111257076
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.307145118713379,
                "transform": {
                    "location": {
                        "x": -32.065467834472656,
                        "y": 4291.232421875,
                        "z": 372.5216064453125
                    },
                    "rotation": {
                        "roll": 0.003371604485437274,
                        "pitch": 0.2583792209625244,
                        "yaw": -179.9882049560547
                    }
                },
                "velocity": {
                    "x": -7.307079792022705,
                    "y": 0.009490619413554668,
                    "z": 0.029441898688673973
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.585002422332764,
                "transform": {
                    "location": {
                        "x": -47.07726287841797,
                        "y": 4291.3212890625,
                        "z": 372.5841064453125
                    },
                    "rotation": {
                        "roll": 0.0043403166346251965,
                        "pitch": 0.2617259919643402,
                        "yaw": -179.98468017578125
                    }
                },
                "velocity": {
                    "x": -7.584930896759033,
                    "y": 0.010829863138496876,
                    "z": 0.031043319031596184
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.108976364135742,
                "transform": {
                    "location": {
                        "x": 11.58437442779541,
                        "y": 4294.220703125,
                        "z": 372.3247985839844
                    },
                    "rotation": {
                        "roll": 0.0026665779296308756,
                        "pitch": 0.32051342725753784,
                        "yaw": 179.88916015625
                    }
                },
                "velocity": {
                    "x": -8.108860969543457,
                    "y": 0.021976744756102562,
                    "z": 0.03721218183636665
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.125328063964844,
                "transform": {
                    "location": {
                        "x": -4.176484107971191,
                        "y": 4294.310546875,
                        "z": 372.40087890625
                    },
                    "rotation": {
                        "roll": 0.024835430085659027,
                        "pitch": 0.8837034702301025,
                        "yaw": 179.88137817382812
                    }
                },
                "velocity": {
                    "x": -10.125195503234863,
                    "y": 0.026009593158960342,
                    "z": 0.04486165940761566
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.884902000427246,
                "transform": {
                    "location": {
                        "x": -33.49687576293945,
                        "y": 4294.48681640625,
                        "z": 372.52984619140625
                    },
                    "rotation": {
                        "roll": 0.01671592891216278,
                        "pitch": -0.09627833962440491,
                        "yaw": 179.90599060058594
                    }
                },
                "velocity": {
                    "x": -5.884832859039307,
                    "y": 0.014134930446743965,
                    "z": 0.02484448440372944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059976577758789,
                "transform": {
                    "location": {
                        "x": -48.54413986206055,
                        "y": 4294.57568359375,
                        "z": 372.599365234375
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": 0.2247200459241867,
                        "yaw": 179.9049530029297
                    }
                },
                "velocity": {
                    "x": -8.059881210327148,
                    "y": 0.02171577885746956,
                    "z": 0.032688312232494354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.009475107304751873,
        "expert_target_speed": 6.036699825785911,
        "target_point": [
            45.606164472788386,
            0.07669828633847059
        ],
        "target_point_next": [
            96.60610880834061,
            0.15769199329388328
        ]
    },
    "60": {
        "acceleration": [
            -4.348011016845703,
            0.05167044699192047,
            0.01347217708826065
        ],
        "angular_velocity": [
            0.021216124296188354,
            0.6171156764030457,
            -0.14507043361663818
        ],
        "forward_vector": [
            -0.9999033212661743,
            0.007971788756549358,
            0.01139616034924984
        ],
        "right_vector": [
            -0.007973051629960537,
            -0.9999682307243347,
            -6.533578562084585e-05
        ],
        "location": [
            -15.322343826293945,
            4291.21484375,
            372.4505310058594
        ],
        "rotation": [
            0.0037437076680362225,
            0.6529660224914551,
            179.543212890625
        ],
        "velocity": [
            -6.47145938873291,
            0.0541524738073349,
            0.027129001915454865
        ],
        "speed": 6.471685955795351,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.5911922454834,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -33.91335678100586,
                4291.2353515625,
                372.52935791015625
            ],
            "velocity": [
                -7.523458003997803,
                0.020112890750169754,
                0.029910506680607796
            ],
            "speed_kmh": 27.084759640449988,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.220338821411133,
                "transform": {
                    "location": {
                        "x": -67.14742279052734,
                        "y": 4301.3427734375,
                        "z": 372.67181396484375
                    },
                    "rotation": {
                        "roll": 0.0040282695554196835,
                        "pitch": -0.14770282804965973,
                        "yaw": -0.0853271335363388
                    }
                },
                "velocity": {
                    "x": 8.220254898071289,
                    "y": -0.016271192580461502,
                    "z": -0.033351849764585495
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.11137580871582,
                "transform": {
                    "location": {
                        "x": -67.16874694824219,
                        "y": 4298.09326171875,
                        "z": 372.67181396484375
                    },
                    "rotation": {
                        "roll": 0.00441916286945343,
                        "pitch": -0.19107453525066376,
                        "yaw": -0.1106872484087944
                    }
                },
                "velocity": {
                    "x": 8.111289024353027,
                    "y": -0.017329707741737366,
                    "z": -0.033204350620508194
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1778557300567627,
                "transform": {
                    "location": {
                        "x": 14.288436889648438,
                        "y": 4290.9638671875,
                        "z": 372.318359375
                    },
                    "rotation": {
                        "roll": -0.006591795943677425,
                        "pitch": 0.4235195219516754,
                        "yaw": 179.34213256835938
                    }
                },
                "velocity": {
                    "x": -2.177830696105957,
                    "y": 0.003581184893846512,
                    "z": 0.00982275977730751
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4790773391723633,
                "transform": {
                    "location": {
                        "x": 1.6902343034744263,
                        "y": 4291.06640625,
                        "z": 372.38275146484375
                    },
                    "rotation": {
                        "roll": 0.02047933265566826,
                        "pitch": 0.5626094937324524,
                        "yaw": -179.11965942382812
                    }
                },
                "velocity": {
                    "x": -2.479036331176758,
                    "y": -0.009331104345619678,
                    "z": 0.010775928385555744
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.5235443115234375,
                "transform": {
                    "location": {
                        "x": -33.91335678100586,
                        "y": 4291.2353515625,
                        "z": 372.52935791015625
                    },
                    "rotation": {
                        "roll": 0.0017082520062103868,
                        "pitch": 0.24633075296878815,
                        "yaw": 179.8915557861328
                    }
                },
                "velocity": {
                    "x": -7.523458003997803,
                    "y": 0.020112890750169754,
                    "z": 0.029910506680607796
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.201581001281738,
                "transform": {
                    "location": {
                        "x": -49.06523513793945,
                        "y": 4291.32470703125,
                        "z": 372.5923767089844
                    },
                    "rotation": {
                        "roll": 0.0016903828363865614,
                        "pitch": 0.2554968595504761,
                        "yaw": 179.8843536376953
                    }
                },
                "velocity": {
                    "x": -8.201482772827148,
                    "y": 0.021939950063824654,
                    "z": 0.033766116946935654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.266083717346191,
                "transform": {
                    "location": {
                        "x": 9.407265663146973,
                        "y": 4294.22607421875,
                        "z": 372.3346862792969
                    },
                    "rotation": {
                        "roll": 0.0022928344551473856,
                        "pitch": 0.3422607481479645,
                        "yaw": 179.8497314453125
                    }
                },
                "velocity": {
                    "x": -9.26595401763916,
                    "y": 0.025799555703997612,
                    "z": 0.04182448238134384
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.10094165802002,
                "transform": {
                    "location": {
                        "x": -6.831718444824219,
                        "y": 4294.318359375,
                        "z": 372.4130859375
                    },
                    "rotation": {
                        "roll": 0.019537851214408875,
                        "pitch": 0.7712785601615906,
                        "yaw": 179.8286895751953
                    }
                },
                "velocity": {
                    "x": -11.10075855255127,
                    "y": 0.040265463292598724,
                    "z": 0.049328602850437164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.026240348815918,
                "transform": {
                    "location": {
                        "x": -34.81703186035156,
                        "y": 4294.49072265625,
                        "z": 372.5357360839844
                    },
                    "rotation": {
                        "roll": 0.008771011605858803,
                        "pitch": -0.20584139227867126,
                        "yaw": 179.91159057617188
                    }
                },
                "velocity": {
                    "x": -5.026178359985352,
                    "y": 0.011962994933128357,
                    "z": 0.021896829828619957
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.956480503082275,
                "transform": {
                    "location": {
                        "x": -50.53453063964844,
                        "y": 4294.5810546875,
                        "z": 372.6074523925781
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": 0.25097528100013733,
                        "yaw": 179.8526153564453
                    }
                },
                "velocity": {
                    "x": -7.956377983093262,
                    "y": 0.02247554250061512,
                    "z": 0.033605050295591354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.011388159357011318,
        "expert_target_speed": 7.21843838782431,
        "target_point": [
            44.155449970236866,
            0.09859877341456141
        ],
        "target_point_next": [
            95.15534988695921,
            0.20391113876596734
        ]
    },
    "65": {
        "acceleration": [
            -3.5312843322753906,
            0.04567578434944153,
            0.012508407235145569
        ],
        "angular_velocity": [
            -0.011778613552451134,
            -0.029769407585263252,
            -0.038485899567604065
        ],
        "forward_vector": [
            -0.999890923500061,
            0.00850381888449192,
            0.01207214966416359
        ],
        "right_vector": [
            -0.008505277335643768,
            -0.9999638199806213,
            -6.945558561710641e-05
        ],
        "location": [
            -17.067890167236328,
            4291.2294921875,
            372.4578552246094
        ],
        "rotation": [
            0.003979802131652832,
            0.6917000412940979,
            179.51272583007812
        ],
        "velocity": [
            -7.436212539672852,
            0.06589685380458832,
            0.030958756804466248
        ],
        "speed": 7.436504510220451,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.785873413085938,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -35.85359191894531,
                4291.24072265625,
                372.5373840332031
            ],
            "velocity": [
                -7.97921895980835,
                0.025307051837444305,
                0.03294935077428818
            ],
            "speed_kmh": 28.725577638132854,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.8890886306762695,
                "transform": {
                    "location": {
                        "x": -65.14859008789062,
                        "y": 4301.33837890625,
                        "z": 372.6635437011719
                    },
                    "rotation": {
                        "roll": 0.004612692166119814,
                        "pitch": -0.2554968595504761,
                        "yaw": -0.1628417670726776
                    }
                },
                "velocity": {
                    "x": 7.888979434967041,
                    "y": -0.02516518533229828,
                    "z": -0.03303702920675278
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.920653820037842,
                "transform": {
                    "location": {
                        "x": -65.18484497070312,
                        "y": 4298.08837890625,
                        "z": 372.66357421875
                    },
                    "rotation": {
                        "roll": 0.004159147385507822,
                        "pitch": -0.25049033761024475,
                        "yaw": -0.155792236328125
                    }
                },
                "velocity": {
                    "x": 7.920542240142822,
                    "y": -0.025436975061893463,
                    "z": -0.033438920974731445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.008964519016444683,
                "transform": {
                    "location": {
                        "x": 13.946093559265137,
                        "y": 4290.96533203125,
                        "z": 372.3222961425781
                    },
                    "rotation": {
                        "roll": 0.011403918266296387,
                        "pitch": -0.21383272111415863,
                        "yaw": 179.48080444335938
                    }
                },
                "velocity": {
                    "x": -0.008959890343248844,
                    "y": 3.996361101599177e-06,
                    "z": 0.00028801889857277274
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.355173587799072,
                "transform": {
                    "location": {
                        "x": 0.8454687595367432,
                        "y": 4291.06103515625,
                        "z": 372.3858947753906
                    },
                    "rotation": {
                        "roll": 0.01828339882194996,
                        "pitch": 0.6540247201919556,
                        "yaw": -179.37173461914062
                    }
                },
                "velocity": {
                    "x": -4.355106830596924,
                    "y": -0.014066153205931187,
                    "z": 0.019593724980950356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.979327201843262,
                "transform": {
                    "location": {
                        "x": -35.85359191894531,
                        "y": 4291.24072265625,
                        "z": 372.5373840332031
                    },
                    "rotation": {
                        "roll": 0.0018216288881376386,
                        "pitch": 0.2506133019924164,
                        "yaw": 179.83026123046875
                    }
                },
                "velocity": {
                    "x": -7.97921895980835,
                    "y": 0.025307051837444305,
                    "z": 0.03294935077428818
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.17926025390625,
                "transform": {
                    "location": {
                        "x": -51.121639251708984,
                        "y": 4291.330078125,
                        "z": 372.6010437011719
                    },
                    "rotation": {
                        "roll": 0.0014905360294505954,
                        "pitch": 0.24029287695884705,
                        "yaw": 179.82568359375
                    }
                },
                "velocity": {
                    "x": -8.179153442382812,
                    "y": 0.02466193214058876,
                    "z": 0.03362485021352768
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.510986328125,
                "transform": {
                    "location": {
                        "x": 6.928124904632568,
                        "y": 4294.23486328125,
                        "z": 372.34600830078125
                    },
                    "rotation": {
                        "roll": 0.0029382130596786737,
                        "pitch": 0.34616079926490784,
                        "yaw": 179.77610778808594
                    }
                },
                "velocity": {
                    "x": -10.51077651977539,
                    "y": 0.04719579964876175,
                    "z": 0.046667687594890594
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.06046199798584,
                "transform": {
                    "location": {
                        "x": -9.733202934265137,
                        "y": 4294.330078125,
                        "z": 372.4259948730469
                    },
                    "rotation": {
                        "roll": 0.018514713272452354,
                        "pitch": 0.7267935872077942,
                        "yaw": 179.74586486816406
                    }
                },
                "velocity": {
                    "x": -12.060221672058105,
                    "y": 0.05470551550388336,
                    "z": 0.0529276467859745
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.407535076141357,
                "transform": {
                    "location": {
                        "x": -36.083045959472656,
                        "y": 4294.494140625,
                        "z": 372.5398864746094
                    },
                    "rotation": {
                        "roll": 0.008217559196054935,
                        "pitch": 0.11222682893276215,
                        "yaw": 179.8125
                    }
                },
                "velocity": {
                    "x": -5.40744686126709,
                    "y": 0.02083917148411274,
                    "z": 0.022731827571988106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.045482635498047,
                "transform": {
                    "location": {
                        "x": -52.53664016723633,
                        "y": 4294.587890625,
                        "z": 372.615966796875
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.22583335638046265,
                        "yaw": 179.79319763183594
                    }
                },
                "velocity": {
                    "x": -8.045333862304688,
                    "y": 0.03580615669488907,
                    "z": 0.033370304852724075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.014688011258840561,
        "expert_target_speed": 8.000649587542995,
        "target_point": [
            42.40978345598396,
            0.1218993923453709
        ],
        "target_point_next": [
            93.40962010953012,
            0.2543513519414228
        ]
    },
    "70": {
        "acceleration": [
            0.9864044189453125,
            0.010342150926589966,
            -0.005167350172996521
        ],
        "angular_velocity": [
            -0.019844647496938705,
            -1.446678638458252,
            -0.15431848168373108
        ],
        "forward_vector": [
            -0.9999133944511414,
            0.00912746973335743,
            0.009478784166276455
        ],
        "right_vector": [
            -0.009128659963607788,
            -0.999958336353302,
            -8.235355926444754e-05
        ],
        "location": [
            -19.005937576293945,
            4291.2470703125,
            372.4666442871094
        ],
        "rotation": [
            0.0047187237069010735,
            0.5431024432182312,
            179.4770050048828
        ],
        "velocity": [
            -7.790253162384033,
            0.07351597398519516,
            0.03312434256076813
        ],
        "speed": 7.790600036740779,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.85735321044922,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -37.86312484741211,
                4291.248046875,
                372.5458984375
            ],
            "velocity": [
                -7.984750747680664,
                0.035681817680597305,
                0.033284254372119904
            ],
            "speed_kmh": 28.745639442362485,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.120731353759766,
                "transform": {
                    "location": {
                        "x": -63.14741897583008,
                        "y": 4301.3310546875,
                        "z": 372.6552734375
                    },
                    "rotation": {
                        "roll": 0.0015223155496641994,
                        "pitch": -0.21450208127498627,
                        "yaw": -0.2037353366613388
                    }
                },
                "velocity": {
                    "x": 8.120598793029785,
                    "y": -0.03229428455233574,
                    "z": -0.03326689824461937
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.140905380249023,
                "transform": {
                    "location": {
                        "x": -63.16960906982422,
                        "y": 4298.08056640625,
                        "z": 372.6552734375
                    },
                    "rotation": {
                        "roll": 0.004355245269834995,
                        "pitch": -0.21386687457561493,
                        "yaw": -0.22412103414535522
                    }
                },
                "velocity": {
                    "x": 8.140767097473145,
                    "y": -0.03373511880636215,
                    "z": -0.033503759652376175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.161499261856079,
                "transform": {
                    "location": {
                        "x": 13.769296646118164,
                        "y": 4290.9658203125,
                        "z": 372.3214416503906
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.24126958847045898,
                        "yaw": 179.51869201660156
                    }
                },
                "velocity": {
                    "x": -1.1614807844161987,
                    "y": 0.004621768835932016,
                    "z": 0.004648761823773384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.186354637145996,
                "transform": {
                    "location": {
                        "x": -0.4307031035423279,
                        "y": 4291.05517578125,
                        "z": 372.3923645019531
                    },
                    "rotation": {
                        "roll": 0.01361497025936842,
                        "pitch": 0.5831273794174194,
                        "yaw": -179.628662109375
                    }
                },
                "velocity": {
                    "x": -5.186284065246582,
                    "y": -0.011770576238632202,
                    "z": 0.024370402097702026
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.984899997711182,
                "transform": {
                    "location": {
                        "x": -37.86312484741211,
                        "y": 4291.248046875,
                        "z": 372.5458984375
                    },
                    "rotation": {
                        "roll": 0.0016444931970909238,
                        "pitch": 0.2404089868068695,
                        "yaw": 179.7687225341797
                    }
                },
                "velocity": {
                    "x": -7.984750747680664,
                    "y": 0.035681817680597305,
                    "z": 0.033284254372119904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.003988265991211,
                "transform": {
                    "location": {
                        "x": -53.14046859741211,
                        "y": 4291.33740234375,
                        "z": 372.6094970703125
                    },
                    "rotation": {
                        "roll": 0.0011110942577943206,
                        "pitch": 0.23554588854312897,
                        "yaw": 179.7697296142578
                    }
                },
                "velocity": {
                    "x": -8.003844261169434,
                    "y": 0.03535350039601326,
                    "z": 0.03251134976744652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.637569427490234,
                "transform": {
                    "location": {
                        "x": 4.15164041519165,
                        "y": 4294.24755859375,
                        "z": 372.3586730957031
                    },
                    "rotation": {
                        "roll": 0.0010997301433235407,
                        "pitch": 0.3417758047580719,
                        "yaw": 179.73341369628906
                    }
                },
                "velocity": {
                    "x": -11.637324333190918,
                    "y": 0.053548768162727356,
                    "z": 0.05321090668439865
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.988768577575684,
                "transform": {
                    "location": {
                        "x": -12.786718368530273,
                        "y": 4294.3447265625,
                        "z": 372.4402770996094
                    },
                    "rotation": {
                        "roll": 0.01523806992918253,
                        "pitch": 0.4583193361759186,
                        "yaw": 179.70660400390625
                    }
                },
                "velocity": {
                    "x": -11.988492965698242,
                    "y": 0.062587209045887,
                    "z": 0.051878757774829865
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.24815034866333,
                "transform": {
                    "location": {
                        "x": -37.7189826965332,
                        "y": 4294.5009765625,
                        "z": 372.54443359375
                    },
                    "rotation": {
                        "roll": 0.006439025979489088,
                        "pitch": 0.7226613163948059,
                        "yaw": 179.7696075439453
                    }
                },
                "velocity": {
                    "x": -7.248019218444824,
                    "y": 0.03151515871286392,
                    "z": 0.030201377347111702
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.059759140014648,
                "transform": {
                    "location": {
                        "x": -54.55249786376953,
                        "y": 4294.5966796875,
                        "z": 372.62420654296875
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.23558004200458527,
                        "yaw": 179.7597198486328
                    }
                },
                "velocity": {
                    "x": -8.059610366821289,
                    "y": 0.03562355041503906,
                    "z": 0.03370727598667145
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.023135578259825706,
        "expert_target_speed": 8.269213139560867,
        "target_point": [
            40.47157212775582,
            0.14821816094728965
        ],
        "target_point_next": [
            91.47131632933568,
            0.31245452541544483
        ]
    },
    "75": {
        "acceleration": [
            2.568378448486328,
            -0.007007718086242676,
            -0.010521262884140015
        ],
        "angular_velocity": [
            0.0380953773856163,
            -0.9676121473312378,
            -0.13921856880187988
        ],
        "forward_vector": [
            -0.9999468922615051,
            0.009746492840349674,
            0.0033446485176682472
        ],
        "right_vector": [
            -0.00974690169095993,
            -0.999952495098114,
            -0.00010582539835013449
        ],
        "location": [
            -20.87140655517578,
            4291.26416015625,
            372.4757995605469
        ],
        "rotation": [
            0.0060633826069533825,
            0.19163461029529572,
            179.44155883789062
        ],
        "velocity": [
            -7.1841020584106445,
            0.07220274955034256,
            0.03189126029610634
        ],
        "speed": 7.1844648807480915,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.949613571166992,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -39.820858001708984,
                4291.25732421875,
                372.5541076660156
            ],
            "velocity": [
                -7.708806037902832,
                0.03605535998940468,
                0.03335612267255783
            ],
            "speed_kmh": 27.75226507553654,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058504104614258,
                "transform": {
                    "location": {
                        "x": -61.119529724121094,
                        "y": 4301.322265625,
                        "z": 372.6468811035156
                    },
                    "rotation": {
                        "roll": 0.0020082485862076283,
                        "pitch": -0.23943910002708435,
                        "yaw": -0.2647095024585724
                    }
                },
                "velocity": {
                    "x": 8.058353424072266,
                    "y": -0.03635382279753685,
                    "z": -0.03341656178236008
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.030646324157715,
                "transform": {
                    "location": {
                        "x": -61.147029876708984,
                        "y": 4298.072265625,
                        "z": 372.64691162109375
                    },
                    "rotation": {
                        "roll": 0.0011179650900885463,
                        "pitch": -0.24646052718162537,
                        "yaw": -0.250823974609375
                    }
                },
                "velocity": {
                    "x": 8.030501365661621,
                    "y": -0.03594277426600456,
                    "z": -0.03229718655347824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.9918524026870728,
                "transform": {
                    "location": {
                        "x": 13.37289047241211,
                        "y": 4290.96826171875,
                        "z": 372.3222961425781
                    },
                    "rotation": {
                        "roll": -0.004821776412427425,
                        "pitch": 0.5128173828125,
                        "yaw": 179.56370544433594
                    }
                },
                "velocity": {
                    "x": -1.9918254613876343,
                    "y": 0.006816643290221691,
                    "z": 0.007806539535522461
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.9822258949279785,
                "transform": {
                    "location": {
                        "x": -2.001953125,
                        "y": 4291.0517578125,
                        "z": 372.3998718261719
                    },
                    "rotation": {
                        "roll": 0.021931365132331848,
                        "pitch": 0.5466131567955017,
                        "yaw": -179.93577575683594
                    }
                },
                "velocity": {
                    "x": -6.982155799865723,
                    "y": 0.00870678573846817,
                    "z": 0.030031919479370117
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.708962440490723,
                "transform": {
                    "location": {
                        "x": -39.820858001708984,
                        "y": 4291.25732421875,
                        "z": 372.5541076660156
                    },
                    "rotation": {
                        "roll": 0.000856767117511481,
                        "pitch": 0.2338588386774063,
                        "yaw": 179.73287963867188
                    }
                },
                "velocity": {
                    "x": -7.708806037902832,
                    "y": 0.03605535998940468,
                    "z": 0.03335612267255783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.047102928161621,
                "transform": {
                    "location": {
                        "x": -55.145076751708984,
                        "y": 4291.3466796875,
                        "z": 372.61773681640625
                    },
                    "rotation": {
                        "roll": 0.0005112690851092339,
                        "pitch": 0.23671385645866394,
                        "yaw": 179.72901916503906
                    }
                },
                "velocity": {
                    "x": -8.046939849853516,
                    "y": 0.03900497034192085,
                    "z": 0.03318602591753006
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 11.2249755859375,
                "transform": {
                    "location": {
                        "x": 1.2388280630111694,
                        "y": 4294.26220703125,
                        "z": 372.3724060058594
                    },
                    "rotation": {
                        "roll": -0.0016784662147983909,
                        "pitch": 0.2561047673225403,
                        "yaw": 179.69935607910156
                    }
                },
                "velocity": {
                    "x": -11.224706649780273,
                    "y": 0.05858277529478073,
                    "z": 0.050938282161951065
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.03529167175293,
                "transform": {
                    "location": {
                        "x": -15.628984451293945,
                        "y": 4294.3603515625,
                        "z": 372.4541015625
                    },
                    "rotation": {
                        "roll": 0.00858139619231224,
                        "pitch": 0.03887060284614563,
                        "yaw": 179.6893310546875
                    }
                },
                "velocity": {
                    "x": -11.035017967224121,
                    "y": 0.06087598577141762,
                    "z": 0.04838297888636589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.184160232543945,
                "transform": {
                    "location": {
                        "x": -39.688358306884766,
                        "y": 4294.509765625,
                        "z": 372.5526123046875
                    },
                    "rotation": {
                        "roll": 0.005525781773030758,
                        "pitch": 0.7366836667060852,
                        "yaw": 179.73480224609375
                    }
                },
                "velocity": {
                    "x": -8.184009552001953,
                    "y": 0.03706546127796173,
                    "z": 0.03315608948469162
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.982892036437988,
                "transform": {
                    "location": {
                        "x": -56.55515670776367,
                        "y": 4294.60546875,
                        "z": 372.6324768066406
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": 0.23794329166412354,
                        "yaw": 179.74703979492188
                    }
                },
                "velocity": {
                    "x": -7.982726097106934,
                    "y": 0.03979184478521347,
                    "z": 0.03261873126029968
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03242956101894379,
        "expert_target_speed": 7.803210930488327,
        "target_point": [
            38.605925699842345,
            0.17217484117331605
        ],
        "target_point_next": [
            89.60555848136231,
            0.36797668004450934
        ]
    },
    "80": {
        "acceleration": [
            -0.036029815673828125,
            -0.2412930130958557,
            0.016137883067131042
        ],
        "angular_velocity": [
            -0.25659817457199097,
            0.2965813875198364,
            0.8687282204627991
        ],
        "forward_vector": [
            -0.9999544620513916,
            0.009248727932572365,
            0.002350566443055868
        ],
        "right_vector": [
            -0.009248049929738045,
            -0.9999571442604065,
            0.0002988058258779347
        ],
        "location": [
            -22.627655029296875,
            4291.28076171875,
            372.4835205078125
        ],
        "rotation": [
            -0.01712035946547985,
            0.13467766344547272,
            179.47007751464844
        ],
        "velocity": [
            -6.951631546020508,
            0.04731904715299606,
            0.029328279197216034
        ],
        "speed": 6.951792592119744,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.118680953979492,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -41.74617004394531,
                4291.26708984375,
                372.5621032714844
            ],
            "velocity": [
                -7.732905864715576,
                0.039213813841342926,
                0.03321385383605957
            ],
            "speed_kmh": 27.839075828518876,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -101.60812377929688,
                        "y": 4301.46728515625,
                        "z": 373.0100402832031
                    },
                    "rotation": {
                        "roll": -1.0422125662490345e-10,
                        "pitch": -0.23068279027938843,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -101.6273422241211,
                        "y": 4298.21728515625,
                        "z": 373.0100402832031
                    },
                    "rotation": {
                        "roll": -1.0422125662490345e-10,
                        "pitch": -0.23068279027938843,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.02093505859375,
                "transform": {
                    "location": {
                        "x": -59.11460876464844,
                        "y": 4301.3125,
                        "z": 372.6385803222656
                    },
                    "rotation": {
                        "roll": 0.002054550452157855,
                        "pitch": -0.24288834631443024,
                        "yaw": -0.2667236328125
                    }
                },
                "velocity": {
                    "x": 8.020770072937012,
                    "y": -0.039814069867134094,
                    "z": -0.03254597261548042
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.037117958068848,
                "transform": {
                    "location": {
                        "x": -59.1428108215332,
                        "y": 4298.0625,
                        "z": 372.6385803222656
                    },
                    "rotation": {
                        "roll": 0.000854054291266948,
                        "pitch": -0.23806622624397278,
                        "yaw": -0.2805175483226776
                    }
                },
                "velocity": {
                    "x": 8.036948204040527,
                    "y": -0.04012172669172287,
                    "z": -0.03344631567597389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2165863513946533,
                "transform": {
                    "location": {
                        "x": 12.723280906677246,
                        "y": 4290.97021484375,
                        "z": 372.32464599609375
                    },
                    "rotation": {
                        "roll": -0.006164550315588713,
                        "pitch": 0.7011393904685974,
                        "yaw": 179.64691162109375
                    }
                },
                "velocity": {
                    "x": -3.2165353298187256,
                    "y": 0.010372878983616829,
                    "z": 0.014834508299827576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.195878028869629,
                "transform": {
                    "location": {
                        "x": -3.886171817779541,
                        "y": 4291.05419921875,
                        "z": 372.40826416015625
                    },
                    "rotation": {
                        "roll": 0.013974652625620365,
                        "pitch": 0.5114855170249939,
                        "yaw": 179.84681701660156
                    }
                },
                "velocity": {
                    "x": -8.195758819580078,
                    "y": 0.024326413869857788,
                    "z": 0.036826543509960175
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.733076572418213,
                "transform": {
                    "location": {
                        "x": -41.74617004394531,
                        "y": 4291.26708984375,
                        "z": 372.5621032714844
                    },
                    "rotation": {
                        "roll": 0.001273473841138184,
                        "pitch": 0.23752664029598236,
                        "yaw": 179.72088623046875
                    }
                },
                "velocity": {
                    "x": -7.732905864715576,
                    "y": 0.039213813841342926,
                    "z": 0.03321385383605957
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.042966842651367,
                "transform": {
                    "location": {
                        "x": -57.157108306884766,
                        "y": 4291.35693359375,
                        "z": 372.6260986328125
                    },
                    "rotation": {
                        "roll": 0.0012885831529274583,
                        "pitch": 0.23794329166412354,
                        "yaw": 179.7044219970703
                    }
                },
                "velocity": {
                    "x": -8.0427827835083,
                    "y": 0.043201614171266556,
                    "z": 0.032926082611083984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.257536888122559,
                "transform": {
                    "location": {
                        "x": -1.422265648841858,
                        "y": 4294.2763671875,
                        "z": 372.384765625
                    },
                    "rotation": {
                        "roll": -0.0003356932429596782,
                        "pitch": 0.2076035887002945,
                        "yaw": 179.6916046142578
                    }
                },
                "velocity": {
                    "x": -10.257271766662598,
                    "y": 0.05779162794351578,
                    "z": 0.04584571719169617
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.499459266662598,
                "transform": {
                    "location": {
                        "x": -18.344921112060547,
                        "y": 4294.37548828125,
                        "z": 372.46588134765625
                    },
                    "rotation": {
                        "roll": 0.00461745448410511,
                        "pitch": 0.022655736654996872,
                        "yaw": 179.68112182617188
                    }
                },
                "velocity": {
                    "x": -10.499202728271484,
                    "y": 0.05837387964129448,
                    "z": 0.04445803537964821
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.612480640411377,
                "transform": {
                    "location": {
                        "x": -41.66195297241211,
                        "y": 4294.51904296875,
                        "z": 372.5623779296875
                    },
                    "rotation": {
                        "roll": 0.0038618689868599176,
                        "pitch": 0.28564533591270447,
                        "yaw": 179.75244140625
                    }
                },
                "velocity": {
                    "x": -7.61232852935791,
                    "y": 0.03512749820947647,
                    "z": 0.03292138874530792
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.069061279296875,
                "transform": {
                    "location": {
                        "x": -58.56281280517578,
                        "y": 4294.61572265625,
                        "z": 372.6408386230469
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.23288895189762115,
                        "yaw": 179.70803833007812
                    }
                },
                "velocity": {
                    "x": -8.068875312805176,
                    "y": 0.04316793009638786,
                    "z": 0.03373941406607628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03307979926466942,
        "expert_target_speed": 7.624384425696878,
        "target_point": [
            36.84967972590063,
            0.15331412702013725
        ],
        "target_point_next": [
            87.84940366166046,
            0.3237274078344979
        ]
    },
    "85": {
        "acceleration": [
            0.2163410186767578,
            -0.2835596799850464,
            -0.0016132369637489319
        ],
        "angular_velocity": [
            -0.09574594348669052,
            0.1715414971113205,
            1.8028161525726318
        ],
        "forward_vector": [
            -0.999988853931427,
            0.0029264765325933695,
            0.0037043008487671614
        ],
        "right_vector": [
            -0.0029227265622466803,
            -0.9999951720237732,
            0.001017320086248219
        ],
        "location": [
            -24.366952896118164,
            4291.28564453125,
            372.49053955078125
        ],
        "rotation": [
            -0.058288559317588806,
            0.2122412919998169,
            179.8323211669922
        ],
        "velocity": [
            -6.9697723388671875,
            -0.01208895817399025,
            0.029299449175596237
        ],
        "speed": 6.969782822911193,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.320791244506836,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -43.68757629394531,
                4291.27685546875,
                372.5701599121094
            ],
            "velocity": [
                -7.786837577819824,
                0.04122116044163704,
                0.0335499569773674
            ],
            "speed_kmh": 28.033268247592645,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -99.54741668701172,
                        "y": 4301.455078125,
                        "z": 372.8111572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -99.56663513183594,
                        "y": 4298.205078125,
                        "z": 372.8111572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.074283599853516,
                "transform": {
                    "location": {
                        "x": -57.100624084472656,
                        "y": 4301.302734375,
                        "z": 372.6302795410156
                    },
                    "rotation": {
                        "roll": 0.0035472542513161898,
                        "pitch": -0.23215128481388092,
                        "yaw": -0.31561279296875
                    }
                },
                "velocity": {
                    "x": 8.074092864990234,
                    "y": -0.04354424774646759,
                    "z": -0.034224603325128555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.078493118286133,
                "transform": {
                    "location": {
                        "x": -57.1252326965332,
                        "y": 4298.05224609375,
                        "z": 372.6302795410156
                    },
                    "rotation": {
                        "roll": 0.000269417796516791,
                        "pitch": -0.23413203656673431,
                        "yaw": -0.2952269911766052
                    }
                },
                "velocity": {
                    "x": 8.078316688537598,
                    "y": -0.042292289435863495,
                    "z": -0.032727792859077454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.596813678741455,
                "transform": {
                    "location": {
                        "x": 11.732733726501465,
                        "y": 4290.9736328125,
                        "z": 372.32867431640625
                    },
                    "rotation": {
                        "roll": -0.006439208518713713,
                        "pitch": 0.8326819539070129,
                        "yaw": 179.73428344726562
                    }
                },
                "velocity": {
                    "x": -4.59674596786499,
                    "y": 0.013230446726083755,
                    "z": 0.021181173622608185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.030607223510742,
                "transform": {
                    "location": {
                        "x": -6.091875076293945,
                        "y": 4291.06103515625,
                        "z": 372.41815185546875
                    },
                    "rotation": {
                        "roll": 0.004818021785467863,
                        "pitch": 0.49587854743003845,
                        "yaw": 179.78662109375
                    }
                },
                "velocity": {
                    "x": -9.03045654296875,
                    "y": 0.03275201469659805,
                    "z": 0.04063626378774643
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.787018775939941,
                "transform": {
                    "location": {
                        "x": -43.68757629394531,
                        "y": 4291.27685546875,
                        "z": 372.5701599121094
                    },
                    "rotation": {
                        "roll": 0.00019992419402115047,
                        "pitch": 0.24123543500900269,
                        "yaw": 179.7001190185547
                    }
                },
                "velocity": {
                    "x": -7.786837577819824,
                    "y": 0.04122116044163704,
                    "z": 0.0335499569773674
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.075519561767578,
                "transform": {
                    "location": {
                        "x": -59.17265319824219,
                        "y": 4291.3681640625,
                        "z": 372.6343994140625
                    },
                    "rotation": {
                        "roll": 0.00031870411476120353,
                        "pitch": 0.237171471118927,
                        "yaw": 179.68939208984375
                    }
                },
                "velocity": {
                    "x": -8.075325965881348,
                    "y": 0.04464124143123627,
                    "z": 0.033681172877550125
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.55617618560791,
                "transform": {
                    "location": {
                        "x": -3.9114842414855957,
                        "y": 4294.28955078125,
                        "z": 372.3958435058594
                    },
                    "rotation": {
                        "roll": 0.0003885876794811338,
                        "pitch": 0.20737819373607635,
                        "yaw": 179.67027282714844
                    }
                },
                "velocity": {
                    "x": -9.555925369262695,
                    "y": 0.05481179431080818,
                    "z": 0.04224307835102081
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.309081077575684,
                "transform": {
                    "location": {
                        "x": -20.809608459472656,
                        "y": 4294.38916015625,
                        "z": 372.47705078125
                    },
                    "rotation": {
                        "roll": 0.0025766657199710608,
                        "pitch": -0.18286465108394623,
                        "yaw": 179.6732940673828
                    }
                },
                "velocity": {
                    "x": -9.308836936950684,
                    "y": 0.05428542196750641,
                    "z": 0.0399952195584774
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.651339054107666,
                "transform": {
                    "location": {
                        "x": -43.54437255859375,
                        "y": 4294.52880859375,
                        "z": 372.57049560546875
                    },
                    "rotation": {
                        "roll": 0.0037136562168598175,
                        "pitch": 0.23101747035980225,
                        "yaw": 179.70542907714844
                    }
                },
                "velocity": {
                    "x": -7.651169776916504,
                    "y": 0.03873874247074127,
                    "z": 0.03302491083741188
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.997774600982666,
                "transform": {
                    "location": {
                        "x": -60.57109069824219,
                        "y": 4294.626953125,
                        "z": 372.6490783691406
                    },
                    "rotation": {
                        "roll": -6.1035061662551016e-05,
                        "pitch": 0.23589423298835754,
                        "yaw": 179.69435119628906
                    }
                },
                "velocity": {
                    "x": -7.997593402862549,
                    "y": 0.042700476944446564,
                    "z": 0.03272956609725952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.01083690021187067,
        "expert_target_speed": 7.644465271496595,
        "target_point": [
            35.11060783668396,
            -0.07987218022370872
        ],
        "target_point_next": [
            86.11038989264111,
            -0.23189998973216402
        ]
    },
    "90": {
        "acceleration": [
            0.7753849029541016,
            0.031283870339393616,
            0.0016244873404502869
        ],
        "angular_velocity": [
            0.221134215593338,
            -0.15434616804122925,
            0.5233450531959534
        ],
        "forward_vector": [
            -0.9999890923500061,
            -0.003626712132245302,
            0.0029516175854951143
        ],
        "right_vector": [
            0.0036287629045546055,
            -0.9999932050704956,
            0.0006897556595504284
        ],
        "location": [
            -26.078670501708984,
            4291.279296875,
            372.4977722167969
        ],
        "rotation": [
            -0.039520263671875,
            0.16911546885967255,
            -179.79220581054688
        ],
        "velocity": [
            -6.71687650680542,
            -0.03232188895344734,
            0.02910669334232807
        ],
        "speed": 6.716954273491826,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.561729431152344,
        "front_vehicle_info": {
            "id": 11264,
            "type": "vehicle.ford.mustang",
            "location": [
                -45.64023208618164,
                4291.28662109375,
                372.5782775878906
            ],
            "velocity": [
                -7.819039344787598,
                0.04360669106245041,
                0.03290630131959915
            ],
            "speed_kmh": 28.149228656214884,
            "color": "0,21,0"
        },
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -97.46421813964844,
                        "y": 4301.44287109375,
                        "z": 372.7996826171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -97.48343658447266,
                        "y": 4298.19287109375,
                        "z": 372.7996826171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23211713135242462,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044297218322754,
                "transform": {
                    "location": {
                        "x": -55.08570098876953,
                        "y": 4301.291015625,
                        "z": 372.6219482421875
                    },
                    "rotation": {
                        "roll": 0.00138948077801615,
                        "pitch": -0.23992404341697693,
                        "yaw": -0.2965392470359802
                    }
                },
                "velocity": {
                    "x": 8.044106483459473,
                    "y": -0.04462164640426636,
                    "z": -0.03290867432951927
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.034151077270508,
                "transform": {
                    "location": {
                        "x": -55.11241912841797,
                        "y": 4298.0419921875,
                        "z": 372.6219787597656
                    },
                    "rotation": {
                        "roll": 0.0012785467552021146,
                        "pitch": -0.24093490839004517,
                        "yaw": -0.3105773329734802
                    }
                },
                "velocity": {
                    "x": 8.033957481384277,
                    "y": -0.04483603686094284,
                    "z": -0.03317821025848389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11266,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.355733871459961,
                "transform": {
                    "location": {
                        "x": 10.444999694824219,
                        "y": 4290.97802734375,
                        "z": 372.3352966308594
                    },
                    "rotation": {
                        "roll": -0.005279540549963713,
                        "pitch": 0.7376945614814758,
                        "yaw": 179.8131561279297
                    }
                },
                "velocity": {
                    "x": -5.35565710067749,
                    "y": 0.013931569643318653,
                    "z": 0.025005893781781197
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11265,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.432878494262695,
                "transform": {
                    "location": {
                        "x": -8.297812461853027,
                        "y": 4291.0703125,
                        "z": 372.4306945800781
                    },
                    "rotation": {
                        "roll": 0.00507544819265604,
                        "pitch": 0.15730607509613037,
                        "yaw": 179.7432861328125
                    }
                },
                "velocity": {
                    "x": -8.432698249816895,
                    "y": 0.03948322311043739,
                    "z": 0.03842616826295853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11264,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.819230079650879,
                "transform": {
                    "location": {
                        "x": -45.64023208618164,
                        "y": 4291.28662109375,
                        "z": 372.5782775878906
                    },
                    "rotation": {
                        "roll": 0.0015366993611678481,
                        "pitch": 0.23847603797912598,
                        "yaw": 179.69174194335938
                    }
                },
                "velocity": {
                    "x": -7.819039344787598,
                    "y": 0.04360669106245041,
                    "z": 0.03290630131959915
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11263,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.03372859954834,
                "transform": {
                    "location": {
                        "x": -61.18585968017578,
                        "y": 4291.37939453125,
                        "z": 372.6427307128906
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.23665237426757812,
                        "yaw": 179.68312072753906
                    }
                },
                "velocity": {
                    "x": -8.03353500366211,
                    "y": 0.044452834874391556,
                    "z": 0.03375854343175888
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.666942596435547,
                "transform": {
                    "location": {
                        "x": -6.161171913146973,
                        "y": 4294.302734375,
                        "z": 372.4058532714844
                    },
                    "rotation": {
                        "roll": 0.00021853458019904792,
                        "pitch": 0.1983213573694229,
                        "yaw": 179.6685333251953
                    }
                },
                "velocity": {
                    "x": -8.666712760925293,
                    "y": 0.0500791110098362,
                    "z": 0.038332995027303696
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.76777172088623,
                "transform": {
                    "location": {
                        "x": -23.170780181884766,
                        "y": 4294.40283203125,
                        "z": 372.4858093261719
                    },
                    "rotation": {
                        "roll": 0.003054637461900711,
                        "pitch": 0.15957370400428772,
                        "yaw": 179.66526794433594
                    }
                },
                "velocity": {
                    "x": -9.767508506774902,
                    "y": 0.05843290686607361,
                    "z": 0.04150545969605446
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.885527610778809,
                "transform": {
                    "location": {
                        "x": -45.50828170776367,
                        "y": 4294.53857421875,
                        "z": 372.5783996582031
                    },
                    "rotation": {
                        "roll": 0.002342970110476017,
                        "pitch": 0.32218000292778015,
                        "yaw": 179.7280731201172
                    }
                },
                "velocity": {
                    "x": -7.885359287261963,
                    "y": 0.03946349024772644,
                    "z": 0.033135298639535904
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.055347442626953,
                "transform": {
                    "location": {
                        "x": -62.57726287841797,
                        "y": 4294.63818359375,
                        "z": 372.65740966796875
                    },
                    "rotation": {
                        "roll": 0.00046308571472764015,
                        "pitch": 0.23491068184375763,
                        "yaw": 179.68978881835938
                    }
                },
                "velocity": {
                    "x": -8.055156707763672,
                    "y": 0.04373203590512276,
                    "z": 0.03408559784293175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.018748445436358452,
        "expert_target_speed": 7.446852958420337,
        "target_point": [
            33.39760116103494,
            -0.3100942181785685
        ],
        "target_point_next": [
            84.39529189420567,
            -0.7963267693967662
        ]
    },
    "95": {
        "acceleration": [
            0.9685897827148438,
            -0.01573018729686737,
            0.002108365297317505
        ],
        "angular_velocity": [
            0.04981881007552147,
            -0.004670341499149799,
            0.2264113873243332
        ],
        "forward_vector": [
            -0.9999845623970032,
            -0.004883880726993084,
            0.0026563373394310474
        ],
        "right_vector": [
            0.004884682595729828,
            -0.9999880194664001,
            0.0002956097887363285
        ],
        "location": [
            -27.725154876708984,
            4291.271484375,
            372.5047302246094
        ],
        "rotation": [
            -0.01693725399672985,
            0.15219709277153015,
            -179.7201690673828
        ],
        "velocity": [
            -6.49045991897583,
            -0.03620658442378044,
            0.028847578912973404
        ],
        "speed": 6.490560906161145,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.597078323364258,
                "transform": {
                    "location": {
                        "x": -95.5082778930664,
                        "y": 4301.43359375,
                        "z": 372.788818359375
                    },
                    "rotation": {
                        "roll": 0.013402140699326992,
                        "pitch": -0.0664030984044075,
                        "yaw": -0.243316650390625
                    }
                },
                "velocity": {
                    "x": 6.59698486328125,
                    "y": 0.030485501512885094,
                    "z": -0.017359094694256783
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.7207560539245605,
                "transform": {
                    "location": {
                        "x": -95.51953125,
                        "y": 4298.18359375,
                        "z": 372.7869567871094
                    },
                    "rotation": {
                        "roll": -0.011199951171875,
                        "pitch": -0.32876431941986084,
                        "yaw": -0.24435418844223022
                    }
                },
                "velocity": {
                    "x": 6.720339775085449,
                    "y": 0.0265582874417305,
                    "z": -0.06993598490953445
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.050629615783691,
                "transform": {
                    "location": {
                        "x": -53.07538986206055,
                        "y": 4301.27978515625,
                        "z": 372.61358642578125
                    },
                    "rotation": {
                        "roll": 0.0009365827427245677,
                        "pitch": -0.23800475895404816,
                        "yaw": -0.336761474609375
                    }
                },
                "velocity": {
                    "x": 8.050427436828613,
                    "y": -0.04622713103890419,
                    "z": -0.03341840207576752
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06454086303711,
                "transform": {
                    "location": {
                        "x": -53.10038757324219,
                        "y": 4298.0302734375,
                        "z": 372.6136169433594
                    },
                    "rotation": {
                        "roll": 0.00017791951540857553,
                        "pitch": -0.23715098202228546,
                        "yaw": -0.3229980170726776
                    }
                },
                "velocity": {
                    "x": 8.064345359802246,
                    "y": -0.04537487030029297,
                    "z": -0.033050537109375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.301457405090332,
                "transform": {
                    "location": {
                        "x": -8.3872652053833,
                        "y": 4294.3154296875,
                        "z": 372.4151611328125
                    },
                    "rotation": {
                        "roll": 0.0007770170923322439,
                        "pitch": 0.26962852478027344,
                        "yaw": 179.66859436035156
                    }
                },
                "velocity": {
                    "x": -9.3012113571167,
                    "y": 0.05372597649693489,
                    "z": 0.04102635383605957
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.481551170349121,
                "transform": {
                    "location": {
                        "x": -25.68406105041504,
                        "y": 4294.41748046875,
                        "z": 372.4952392578125
                    },
                    "rotation": {
                        "roll": 0.0021546015050262213,
                        "pitch": 0.46044352650642395,
                        "yaw": 179.65841674804688
                    }
                },
                "velocity": {
                    "x": -10.481277465820312,
                    "y": 0.06247774511575699,
                    "z": 0.04286204278469086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.604282855987549,
                "transform": {
                    "location": {
                        "x": -47.43757629394531,
                        "y": 4294.54833984375,
                        "z": 372.5868225097656
                    },
                    "rotation": {
                        "roll": 0.004755501169711351,
                        "pitch": 0.1961425244808197,
                        "yaw": 179.67803955078125
                    }
                },
                "velocity": {
                    "x": -7.6040873527526855,
                    "y": 0.04362897202372551,
                    "z": 0.03271136060357094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001418113708496,
                "transform": {
                    "location": {
                        "x": -64.58429718017578,
                        "y": 4294.64990234375,
                        "z": 372.6656799316406
                    },
                    "rotation": {
                        "roll": 0.000890041352249682,
                        "pitch": 0.2340978980064392,
                        "yaw": 179.6826171875
                    }
                },
                "velocity": {
                    "x": -8.001229286193848,
                    "y": 0.044362980872392654,
                    "z": 0.03248327225446701
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03556010127067566,
        "expert_target_speed": 7.401458346584284,
        "target_point": [
            31.7506819461494,
            -0.3518593491489582
        ],
        "target_point_next": [
            82.74772096482641,
            -0.9022169942548315
        ]
    },
    "100": {
        "acceleration": [
            -0.154571533203125,
            -0.009510517120361328,
            -0.007130429148674011
        ],
        "angular_velocity": [
            0.00911848247051239,
            0.23709805309772491,
            0.1819077581167221
        ],
        "forward_vector": [
            -0.9999778866767883,
            -0.005819170270115137,
            0.003224128857254982
        ],
        "right_vector": [
            0.005819767247885466,
            -0.9999830722808838,
            0.00017576769459992647
        ],
        "location": [
            -29.33773422241211,
            4291.26171875,
            372.5114440917969
        ],
        "rotation": [
            -0.010070799849927425,
            0.18472929298877716,
            -179.6665802001953
        ],
        "velocity": [
            -6.425426006317139,
            -0.0409410186111927,
            0.026661986485123634
        ],
        "speed": 6.4255564373571215,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.664497375488281,
                "transform": {
                    "location": {
                        "x": -93.85187530517578,
                        "y": 4301.43701171875,
                        "z": 372.7852783203125
                    },
                    "rotation": {
                        "roll": 0.003968565724790096,
                        "pitch": -0.1862524151802063,
                        "yaw": 0.04449028521776199
                    }
                },
                "velocity": {
                    "x": 6.664398193359375,
                    "y": 0.028255950659513474,
                    "z": -0.022841615602374077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.784278869628906,
                "transform": {
                    "location": {
                        "x": -93.83061981201172,
                        "y": 4298.18701171875,
                        "z": 372.7731628417969
                    },
                    "rotation": {
                        "roll": -0.006622313521802425,
                        "pitch": -0.2645263671875,
                        "yaw": 0.08401216566562653
                    }
                },
                "velocity": {
                    "x": 6.784101963043213,
                    "y": 0.028637537732720375,
                    "z": -0.039754852652549744
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.057400703430176,
                "transform": {
                    "location": {
                        "x": -51.06132888793945,
                        "y": 4301.26806640625,
                        "z": 372.605224609375
                    },
                    "rotation": {
                        "roll": 0.0005128311458975077,
                        "pitch": -0.23834626376628876,
                        "yaw": -0.3123473823070526
                    }
                },
                "velocity": {
                    "x": 8.057197570800781,
                    "y": -0.04639672487974167,
                    "z": -0.03340191766619682
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047839164733887,
                "transform": {
                    "location": {
                        "x": -51.0859375,
                        "y": 4298.0185546875,
                        "z": 372.6052551269531
                    },
                    "rotation": {
                        "roll": 0.0008463651174679399,
                        "pitch": -0.23940494656562805,
                        "yaw": -0.3290099799633026
                    }
                },
                "velocity": {
                    "x": 8.047632217407227,
                    "y": -0.046965036541223526,
                    "z": -0.03353844955563545
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 10.029149055480957,
                "transform": {
                    "location": {
                        "x": -10.835156440734863,
                        "y": 4294.3291015625,
                        "z": 372.4255676269531
                    },
                    "rotation": {
                        "roll": 0.0006823374424129725,
                        "pitch": 0.2958974242210388,
                        "yaw": 179.66871643066406
                    }
                },
                "velocity": {
                    "x": -10.028883934020996,
                    "y": 0.05796390771865845,
                    "z": 0.04415520653128624
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 9.549779891967773,
                "transform": {
                    "location": {
                        "x": -28.1983585357666,
                        "y": 4294.43310546875,
                        "z": 372.5068664550781
                    },
                    "rotation": {
                        "roll": 0.001195163233205676,
                        "pitch": 0.12519052624702454,
                        "yaw": 179.65444946289062
                    }
                },
                "velocity": {
                    "x": -9.549521446228027,
                    "y": 0.057578109204769135,
                    "z": 0.0402366928756237
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.785757541656494,
                "transform": {
                    "location": {
                        "x": -49.35625076293945,
                        "y": 4294.55908203125,
                        "z": 372.5946350097656
                    },
                    "rotation": {
                        "roll": 0.002675342606380582,
                        "pitch": 0.2634335458278656,
                        "yaw": 179.68954467773438
                    }
                },
                "velocity": {
                    "x": -7.785563945770264,
                    "y": 0.04417254775762558,
                    "z": 0.03265492245554924
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11259,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.058727264404297,
                "transform": {
                    "location": {
                        "x": -66.5922622680664,
                        "y": 4294.66162109375,
                        "z": 372.6739807128906
                    },
                    "rotation": {
                        "roll": 0.00023534841602668166,
                        "pitch": 0.2340364158153534,
                        "yaw": 179.68228149414062
                    }
                },
                "velocity": {
                    "x": -8.058534622192383,
                    "y": 0.044675443321466446,
                    "z": 0.03342534974217415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05448714271187782,
        "expert_target_speed": 7.3460129415220505,
        "target_point": [
            30.137730179276836,
            -0.3819299216505334
        ],
        "target_point_next": [
            81.13423227574081,
            -0.9799735114805634
        ]
    },
    "105": {
        "acceleration": [
            0.4115867614746094,
            -0.0031159818172454834,
            -0.012705028057098389
        ],
        "angular_velocity": [
            0.0399620421230793,
            0.039793387055397034,
            0.06410542875528336
        ],
        "forward_vector": [
            -0.9999734163284302,
            -0.006254024337977171,
            0.003745785215869546
        ],
        "right_vector": [
            0.006254221778362989,
            -0.9999804496765137,
            4.101239028386772e-05
        ],
        "location": [
            -30.938045501708984,
            4291.25244140625,
            372.51800537109375
        ],
        "rotation": [
            -0.0023498532827943563,
            0.21461819112300873,
            -179.64166259765625
        ],
        "velocity": [
            -6.382368087768555,
            -0.04155038297176361,
            0.02530132234096527
        ],
        "speed": 6.382503336629879,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.5796685218811035,
                "transform": {
                    "location": {
                        "x": -92.19702911376953,
                        "y": 4301.44384765625,
                        "z": 372.7792053222656
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.2262568324804306,
                        "yaw": 0.18144062161445618
                    }
                },
                "velocity": {
                    "x": 6.5795488357543945,
                    "y": 0.030137041583657265,
                    "z": -0.02580820582807064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.7087626457214355,
                "transform": {
                    "location": {
                        "x": -92.14421844482422,
                        "y": 4298.193359375,
                        "z": 372.7647705078125
                    },
                    "rotation": {
                        "roll": -0.004089355003088713,
                        "pitch": -0.2407846450805664,
                        "yaw": 0.22073891758918762
                    }
                },
                "velocity": {
                    "x": 6.708629608154297,
                    "y": 0.030822115018963814,
                    "z": -0.02890036441385746
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048123359680176,
                "transform": {
                    "location": {
                        "x": -49.04867172241211,
                        "y": 4301.25634765625,
                        "z": 372.59686279296875
                    },
                    "rotation": {
                        "roll": 0.0009073212277144194,
                        "pitch": -0.23995819687843323,
                        "yaw": -0.3428955078125
                    }
                },
                "velocity": {
                    "x": 8.047918319702148,
                    "y": -0.046782784163951874,
                    "z": -0.033322375267744064
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.056111335754395,
                "transform": {
                    "location": {
                        "x": -49.07320022583008,
                        "y": 4298.0068359375,
                        "z": 372.5968933105469
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": -0.23940494656562805,
                        "yaw": -0.3315429389476776
                    }
                },
                "velocity": {
                    "x": 8.05591106414795,
                    "y": -0.046556200832128525,
                    "z": -0.03240972012281418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.820460319519043,
                "transform": {
                    "location": {
                        "x": -13.1997652053833,
                        "y": 4294.34326171875,
                        "z": 372.43658447265625
                    },
                    "rotation": {
                        "roll": 0.0007160514942370355,
                        "pitch": 0.19892925024032593,
                        "yaw": 179.66844177246094
                    }
                },
                "velocity": {
                    "x": -8.820228576660156,
                    "y": 0.05095208063721657,
                    "z": 0.03860687091946602
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.430277824401855,
                "transform": {
                    "location": {
                        "x": -30.449607849121094,
                        "y": 4294.4462890625,
                        "z": 372.5172119140625
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": -0.12463045865297318,
                        "yaw": 179.65667724609375
                    }
                },
                "velocity": {
                    "x": -8.430049896240234,
                    "y": 0.0505533292889595,
                    "z": 0.035930003970861435
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.757512092590332,
                "transform": {
                    "location": {
                        "x": -51.30788803100586,
                        "y": 4294.5712890625,
                        "z": 372.6027526855469
                    },
                    "rotation": {
                        "roll": 0.0016954578459262848,
                        "pitch": 0.2579079270362854,
                        "yaw": 179.66123962402344
                    }
                },
                "velocity": {
                    "x": -7.757318496704102,
                    "y": 0.04408609867095947,
                    "z": 0.03255163133144379
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.458252429962158,
                "transform": {
                    "location": {
                        "x": 3.0271873474121094,
                        "y": 4294.34912109375,
                        "z": 372.7217102050781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2599160075187683,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -6.387734889984131,
                    "y": 0.037753935903310776,
                    "z": -0.9510224461555481
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07238544523715973,
        "expert_target_speed": 7.309122969570259,
        "target_point": [
            28.537223234271018,
            -0.39430459305439297
        ],
        "target_point_next": [
            79.53346043410028,
            -1.0145252543852363
        ]
    },
    "110": {
        "acceleration": [
            -0.3489208221435547,
            -0.009333565831184387,
            -0.004783831536769867
        ],
        "angular_velocity": [
            0.09497866034507751,
            0.10151537507772446,
            0.08207474648952484
        ],
        "forward_vector": [
            -0.9999699592590332,
            -0.006594945210963488,
            0.004069435875862837
        ],
        "right_vector": [
            0.006595075596123934,
            -0.999978244304657,
            1.8641971109900624e-05
        ],
        "location": [
            -32.53499984741211,
            4291.24169921875,
            372.5245666503906
        ],
        "rotation": [
            -0.0010681151179596782,
            0.23316214978694916,
            -179.62213134765625
        ],
        "velocity": [
            -6.394079685211182,
            -0.04362403228878975,
            0.02581837587058544
        ],
        "speed": 6.394228497404786,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.515318393707275,
                "transform": {
                    "location": {
                        "x": -90.54476165771484,
                        "y": 4301.45068359375,
                        "z": 372.77252197265625
                    },
                    "rotation": {
                        "roll": -0.001312255859375,
                        "pitch": -0.22836053371429443,
                        "yaw": 0.2375672310590744
                    }
                },
                "velocity": {
                    "x": 6.515193939208984,
                    "y": 0.0309770368039608,
                    "z": -0.025665458291769028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.527342319488525,
                "transform": {
                    "location": {
                        "x": -90.64984130859375,
                        "y": 4298.2001953125,
                        "z": 372.7587890625
                    },
                    "rotation": {
                        "roll": -0.00238037109375,
                        "pitch": -0.2912938892841339,
                        "yaw": 0.2581591010093689
                    }
                },
                "velocity": {
                    "x": 5.52722692489624,
                    "y": 0.02658534049987793,
                    "z": -0.02386673353612423
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052635192871094,
                "transform": {
                    "location": {
                        "x": -47.03609085083008,
                        "y": 4301.244140625,
                        "z": 372.5885009765625
                    },
                    "rotation": {
                        "roll": 0.0011343540390953422,
                        "pitch": -0.2393161505460739,
                        "yaw": -0.3187560439109802
                    }
                },
                "velocity": {
                    "x": 8.052424430847168,
                    "y": -0.04744693264365196,
                    "z": -0.03395557776093483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048432350158691,
                "transform": {
                    "location": {
                        "x": -47.05992126464844,
                        "y": 4297.9951171875,
                        "z": 372.5885314941406
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.2390497773885727,
                        "yaw": -0.33557119965553284
                    }
                },
                "velocity": {
                    "x": 8.048224449157715,
                    "y": -0.04703522101044655,
                    "z": -0.03358261659741402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.641901016235352,
                "transform": {
                    "location": {
                        "x": -15.230234146118164,
                        "y": 4294.3544921875,
                        "z": 372.44549560546875
                    },
                    "rotation": {
                        "roll": 0.0007332726963795722,
                        "pitch": 0.17732536792755127,
                        "yaw": 179.6604461669922
                    }
                },
                "velocity": {
                    "x": -7.641685485839844,
                    "y": 0.046872932463884354,
                    "z": 0.03311976417899132
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.91660737991333,
                "transform": {
                    "location": {
                        "x": -32.4807014465332,
                        "y": 4294.4580078125,
                        "z": 372.5255432128906
                    },
                    "rotation": {
                        "roll": 0.000278649153187871,
                        "pitch": -0.07327426224946976,
                        "yaw": 179.65626525878906
                    }
                },
                "velocity": {
                    "x": -7.916393756866455,
                    "y": 0.04745861515402794,
                    "z": 0.03370869532227516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.116532325744629,
                "transform": {
                    "location": {
                        "x": -53.27843475341797,
                        "y": 4294.58251953125,
                        "z": 372.6106872558594
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": 0.331168532371521,
                        "yaw": 179.6908416748047
                    }
                },
                "velocity": {
                    "x": -8.116338729858398,
                    "y": 0.044916409999132156,
                    "z": 0.03352012485265732
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.9351115226745605,
                "transform": {
                    "location": {
                        "x": 1.455078125,
                        "y": 4294.3564453125,
                        "z": 372.31597900390625
                    },
                    "rotation": {
                        "roll": -0.0068359375,
                        "pitch": 0.2493770271539688,
                        "yaw": 179.74742126464844
                    }
                },
                "velocity": {
                    "x": -5.909152507781982,
                    "y": -0.012692161835730076,
                    "z": -0.5543543696403503
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0925007313489914,
        "expert_target_speed": 7.319022540153559,
        "target_point": [
            26.940096873728358,
            -0.40423104604895255
        ],
        "target_point_next": [
            77.93611995656802,
            -1.0418139382875355
        ]
    },
    "115": {
        "acceleration": [
            0.28344154357910156,
            -0.00627271831035614,
            -0.0050674378871917725
        ],
        "angular_velocity": [
            0.03610346093773842,
            -0.022616436704993248,
            0.07120893150568008
        ],
        "forward_vector": [
            -0.9999669194221497,
            -0.006929907016456127,
            0.004260884132236242
        ],
        "right_vector": [
            0.006930019706487656,
            -0.9999759793281555,
            1.1717803317878861e-05
        ],
        "location": [
            -34.13257598876953,
            4291.22998046875,
            372.53118896484375
        ],
        "rotation": [
            -0.0006713867769576609,
            0.2441314309835434,
            -179.60293579101562
        ],
        "velocity": [
            -6.387721538543701,
            -0.04574758931994438,
            0.02550317719578743
        ],
        "speed": 6.387885354004383,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.019699573516846,
                "transform": {
                    "location": {
                        "x": -89.00726318359375,
                        "y": 4301.45263671875,
                        "z": 372.7660217285156
                    },
                    "rotation": {
                        "roll": -0.005340575706213713,
                        "pitch": -0.19690068066120148,
                        "yaw": 0.09645848721265793
                    }
                },
                "velocity": {
                    "x": 6.019647598266602,
                    "y": -0.004056103993207216,
                    "z": -0.02469988726079464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.009819030761719,
                "transform": {
                    "location": {
                        "x": -89.22921752929688,
                        "y": 4298.2021484375,
                        "z": 372.75250244140625
                    },
                    "rotation": {
                        "roll": 0.0012891142396256328,
                        "pitch": -0.23022517561912537,
                        "yaw": 0.08518096059560776
                    }
                },
                "velocity": {
                    "x": 6.009768962860107,
                    "y": -0.0036052479408681393,
                    "z": -0.0243211779743433
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05211353302002,
                "transform": {
                    "location": {
                        "x": -45.02241897583008,
                        "y": 4301.23291015625,
                        "z": 372.5801086425781
                    },
                    "rotation": {
                        "roll": 0.0007426379015669227,
                        "pitch": -0.2398352473974228,
                        "yaw": -0.3487243354320526
                    }
                },
                "velocity": {
                    "x": 8.051905632019043,
                    "y": -0.04676629975438118,
                    "z": -0.03399278596043587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058829307556152,
                "transform": {
                    "location": {
                        "x": -45.04616928100586,
                        "y": 4297.9833984375,
                        "z": 372.58013916015625
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -0.2392546832561493,
                        "yaw": -0.33560171723365784
                    }
                },
                "velocity": {
                    "x": 8.058619499206543,
                    "y": -0.0472499281167984,
                    "z": -0.03380371630191803
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.961888790130615,
                "transform": {
                    "location": {
                        "x": -17.15101432800293,
                        "y": 4294.36669921875,
                        "z": 372.45330810546875
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": 0.2415359616279602,
                        "yaw": 179.65365600585938
                    }
                },
                "velocity": {
                    "x": -7.961672782897949,
                    "y": 0.04812579229474068,
                    "z": 0.03349947929382324
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.005000114440918,
                "transform": {
                    "location": {
                        "x": -34.457889556884766,
                        "y": 4294.4697265625,
                        "z": 372.5329895019531
                    },
                    "rotation": {
                        "roll": -0.0003967283701058477,
                        "pitch": 0.141876682639122,
                        "yaw": 179.6595916748047
                    }
                },
                "velocity": {
                    "x": -8.004790306091309,
                    "y": 0.047485169023275375,
                    "z": 0.03327156975865364
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.08376407623291,
                "transform": {
                    "location": {
                        "x": -55.321327209472656,
                        "y": 4294.59423828125,
                        "z": 372.6192626953125
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": 0.29369813203811646,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -8.083565711975098,
                    "y": 0.04590774327516556,
                    "z": 0.03324460983276367
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.26473331451416,
                "transform": {
                    "location": {
                        "x": -0.083984375,
                        "y": 4294.3525390625,
                        "z": 372.3542175292969
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": 0.2548070251941681,
                        "yaw": -179.8457489013672
                    }
                },
                "velocity": {
                    "x": -6.259355545043945,
                    "y": -0.04111914709210396,
                    "z": 0.2562481164932251
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11509166657924652,
        "expert_target_speed": 7.3134711950737055,
        "target_point": [
            25.342340667796712,
            -0.413921409058311
        ],
        "target_point_next": [
            76.33814684492573,
            -1.0686232913541958
        ]
    },
    "120": {
        "acceleration": [
            -0.4549980163574219,
            -0.013887658715248108,
            -0.0012111663818359375
        ],
        "angular_velocity": [
            -0.05191107839345932,
            0.09287642687559128,
            0.08050459623336792
        ],
        "forward_vector": [
            -0.9999639391899109,
            -0.007270829752087593,
            0.004394278861582279
        ],
        "right_vector": [
            0.007270886562764645,
            -0.9999735951423645,
            -3.021249312951113e-06
        ],
        "location": [
            -35.73445129394531,
            4291.21875,
            372.5378112792969
        ],
        "rotation": [
            0.00017310649855062366,
            0.2517744302749634,
            -179.58340454101562
        ],
        "velocity": [
            -6.4272966384887695,
            -0.04832287132740021,
            0.02623232826590538
        ],
        "speed": 6.4274782908246655,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.840240955352783,
                "transform": {
                    "location": {
                        "x": -87.4145278930664,
                        "y": 4301.451171875,
                        "z": 372.7601623535156
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": -0.28893065452575684,
                        "yaw": 0.01382327638566494
                    }
                },
                "velocity": {
                    "x": 6.840185165405273,
                    "y": -0.005674189422279596,
                    "z": -0.027055643498897552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.815406322479248,
                "transform": {
                    "location": {
                        "x": -87.57515716552734,
                        "y": 4298.201171875,
                        "z": 372.7449035644531
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.1267341524362564,
                        "yaw": -0.0385436974465847
                    }
                },
                "velocity": {
                    "x": 7.815340995788574,
                    "y": -0.0072014168836176395,
                    "z": -0.031082620844244957
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052553176879883,
                "transform": {
                    "location": {
                        "x": -43.00914001464844,
                        "y": 4301.22119140625,
                        "z": 372.5717468261719
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": -0.23946641385555267,
                        "yaw": -0.3162536323070526
                    }
                },
                "velocity": {
                    "x": 8.052351951599121,
                    "y": -0.046501707285642624,
                    "z": -0.03294571489095688
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047690391540527,
                "transform": {
                    "location": {
                        "x": -43.03296661376953,
                        "y": 4297.9716796875,
                        "z": 372.57177734375
                    },
                    "rotation": {
                        "roll": 3.9207905501825735e-05,
                        "pitch": -0.24032019078731537,
                        "yaw": -0.3356017470359802
                    }
                },
                "velocity": {
                    "x": 8.04748249053955,
                    "y": -0.04714040830731392,
                    "z": -0.03345349058508873
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.151189804077148,
                "transform": {
                    "location": {
                        "x": -19.207576751708984,
                        "y": 4294.37841796875,
                        "z": 372.4619445800781
                    },
                    "rotation": {
                        "roll": 0.00014616039698012173,
                        "pitch": 0.2580377161502838,
                        "yaw": 179.65176391601562
                    }
                },
                "velocity": {
                    "x": -8.150956153869629,
                    "y": 0.05091365799307823,
                    "z": 0.0349915511906147
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.107043266296387,
                "transform": {
                    "location": {
                        "x": -36.485389709472656,
                        "y": 4294.48193359375,
                        "z": 372.5410461425781
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.2503059208393097,
                        "yaw": 179.6622772216797
                    }
                },
                "velocity": {
                    "x": -8.106840133666992,
                    "y": 0.04658927023410797,
                    "z": 0.033525560051202774
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.920412540435791,
                "transform": {
                    "location": {
                        "x": -57.30921936035156,
                        "y": 4294.60595703125,
                        "z": 372.6277770996094
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": 0.20326641201972961,
                        "yaw": 179.6885528564453
                    }
                },
                "velocity": {
                    "x": -7.920213222503662,
                    "y": 0.04508516564965248,
                    "z": 0.03353092074394226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.956151485443115,
                "transform": {
                    "location": {
                        "x": -1.615078091621399,
                        "y": 4294.3447265625,
                        "z": 372.38812255859375
                    },
                    "rotation": {
                        "roll": 0.003495105542242527,
                        "pitch": 0.254438191652298,
                        "yaw": -179.6083984375
                    }
                },
                "velocity": {
                    "x": -5.955813884735107,
                    "y": -0.02862844429910183,
                    "z": 0.05662039667367935
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13856513798236847,
        "expert_target_speed": 7.347139096853224,
        "target_point": [
            23.740283656701592,
            -0.42213280171698764
        ],
        "target_point_next": [
            74.73586397733006,
            -1.0941967661754486
        ]
    },
    "125": {
        "acceleration": [
            0.23931503295898438,
            -0.005028322339057922,
            -0.010218620300292969
        ],
        "angular_velocity": [
            0.06403263658285141,
            -0.07328814268112183,
            0.07809107005596161
        ],
        "forward_vector": [
            -0.9999613165855408,
            -0.007610324304550886,
            0.004412636626511812
        ],
        "right_vector": [
            0.007610307075083256,
            -0.9999710321426392,
            -2.0685016352217644e-05
        ],
        "location": [
            -37.34187316894531,
            4291.20703125,
            372.5445556640625
        ],
        "rotation": [
            0.0011851756135001779,
            0.2528262734413147,
            -179.56394958496094
        ],
        "velocity": [
            -6.433265209197998,
            -0.050441939383745193,
            0.02561294473707676
        ],
        "speed": 6.433462958712528,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.822080612182617,
                "transform": {
                    "location": {
                        "x": -85.61906433105469,
                        "y": 4301.44970703125,
                        "z": 372.7530822753906
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": -0.3185053765773773,
                        "yaw": -0.0543823204934597
                    }
                },
                "velocity": {
                    "x": 7.822011470794678,
                    "y": -0.007366457488387823,
                    "z": -0.03203020989894867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.331274032592773,
                "transform": {
                    "location": {
                        "x": -85.50296783447266,
                        "y": 4298.19921875,
                        "z": 372.73687744140625
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": -0.17462743818759918,
                        "yaw": -0.049468982964754105
                    }
                },
                "velocity": {
                    "x": 8.331207275390625,
                    "y": -0.007098223548382521,
                    "z": -0.03267284855246544
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051838874816895,
                "transform": {
                    "location": {
                        "x": -40.99546813964844,
                        "y": 4301.20947265625,
                        "z": 372.5633544921875
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": -0.2398967146873474,
                        "yaw": -0.351043701171875
                    }
                },
                "velocity": {
                    "x": 8.0516357421875,
                    "y": -0.04670436307787895,
                    "z": -0.03302295506000519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059205055236816,
                "transform": {
                    "location": {
                        "x": -41.01945114135742,
                        "y": 4297.9599609375,
                        "z": 372.5633850097656
                    },
                    "rotation": {
                        "roll": 0.0013666871236637235,
                        "pitch": -0.23907709121704102,
                        "yaw": -0.342987060546875
                    }
                },
                "velocity": {
                    "x": 8.058991432189941,
                    "y": -0.048196129500865936,
                    "z": -0.033625200390815735
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.582783222198486,
                "transform": {
                    "location": {
                        "x": -21.167734146118164,
                        "y": 4294.39013671875,
                        "z": 372.4704895019531
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.21485042572021484,
                        "yaw": 179.64944458007812
                    }
                },
                "velocity": {
                    "x": -7.5825700759887695,
                    "y": 0.0463922955095768,
                    "z": 0.03290801867842674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.950193405151367,
                "transform": {
                    "location": {
                        "x": -38.48711013793945,
                        "y": 4294.4931640625,
                        "z": 372.5495300292969
                    },
                    "rotation": {
                        "roll": 0.0007459585904143751,
                        "pitch": 0.20575261116027832,
                        "yaw": 179.65548706054688
                    }
                },
                "velocity": {
                    "x": -7.949984073638916,
                    "y": 0.04786953702569008,
                    "z": 0.03219175338745117
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.098612785339355,
                "transform": {
                    "location": {
                        "x": -59.315311431884766,
                        "y": 4294.6181640625,
                        "z": 372.63580322265625
                    },
                    "rotation": {
                        "roll": 0.00014937917876522988,
                        "pitch": 0.27559810876846313,
                        "yaw": 179.65725708007812
                    }
                },
                "velocity": {
                    "x": -8.098408699035645,
                    "y": 0.04653889685869217,
                    "z": 0.03371463716030121
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.621252059936523,
                "transform": {
                    "location": {
                        "x": -3.034374952316284,
                        "y": 4294.33935546875,
                        "z": 372.39605712890625
                    },
                    "rotation": {
                        "roll": 0.004335686564445496,
                        "pitch": 0.2440289855003357,
                        "yaw": -179.6855926513672
                    }
                },
                "velocity": {
                    "x": -5.621190547943115,
                    "y": -0.013979628682136536,
                    "z": 0.0222221277654171
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.16362211108207703,
        "expert_target_speed": 7.352098779640945,
        "target_point": [
            22.132674256815694,
            -0.429688861518155
        ],
        "target_point_next": [
            73.12802313857037,
            -1.1190905137602791
        ]
    },
    "130": {
        "acceleration": [
            -0.4514312744140625,
            0.07128514349460602,
            -0.00627957284450531
        ],
        "angular_velocity": [
            0.10539167374372482,
            0.07636777311563492,
            -0.15577511489391327
        ],
        "forward_vector": [
            -0.9999600648880005,
            -0.007746931165456772,
            0.004455432295799255
        ],
        "right_vector": [
            0.007746456656605005,
            -0.999970018863678,
            -0.00012384876026771963
        ],
        "location": [
            -38.955780029296875,
            4291.19384765625,
            372.55126953125
        ],
        "rotation": [
            0.00709608243778348,
            0.2552783191204071,
            -179.55612182617188
        ],
        "velocity": [
            -6.475948333740234,
            -0.047027625143527985,
            0.025535669177770615
        ],
        "speed": 6.476119086212016,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.561026573181152,
                "transform": {
                    "location": {
                        "x": -83.48741912841797,
                        "y": 4301.44384765625,
                        "z": 372.74432373046875
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": -0.3112175464630127,
                        "yaw": -0.1510314792394638
                    }
                },
                "velocity": {
                    "x": 8.56090259552002,
                    "y": -0.030046941712498665,
                    "z": -0.03505396470427513
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.888591289520264,
                "transform": {
                    "location": {
                        "x": -83.48374938964844,
                        "y": 4298.1943359375,
                        "z": 372.7290954589844
                    },
                    "rotation": {
                        "roll": 0.0005375409382395446,
                        "pitch": -0.24679520726203918,
                        "yaw": -0.1570739597082138
                    }
                },
                "velocity": {
                    "x": 7.888471603393555,
                    "y": -0.02802436240017414,
                    "z": -0.03321019187569618
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052824020385742,
                "transform": {
                    "location": {
                        "x": -38.98179626464844,
                        "y": 4301.197265625,
                        "z": 372.5549621582031
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -0.23995819687843323,
                        "yaw": -0.3195495307445526
                    }
                },
                "velocity": {
                    "x": 8.052614212036133,
                    "y": -0.04745275899767876,
                    "z": -0.03363994136452675
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046539306640625,
                "transform": {
                    "location": {
                        "x": -39.00601577758789,
                        "y": 4297.9482421875,
                        "z": 372.55499267578125
                    },
                    "rotation": {
                        "roll": 0.0008903708076104522,
                        "pitch": -0.2396576702594757,
                        "yaw": -0.3401183485984802
                    }
                },
                "velocity": {
                    "x": 8.046324729919434,
                    "y": -0.04772983118891716,
                    "z": -0.03421821817755699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.661900043487549,
                "transform": {
                    "location": {
                        "x": -23.049686431884766,
                        "y": 4294.40185546875,
                        "z": 372.4783020019531
                    },
                    "rotation": {
                        "roll": 0.00034550580312497914,
                        "pitch": 0.2404158115386963,
                        "yaw": 179.65316772460938
                    }
                },
                "velocity": {
                    "x": -7.661689281463623,
                    "y": 0.04636465385556221,
                    "z": 0.032897062599658966
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.065690040588379,
                "transform": {
                    "location": {
                        "x": -40.488670349121094,
                        "y": 4294.50537109375,
                        "z": 372.5577392578125
                    },
                    "rotation": {
                        "roll": 2.9999255275470205e-05,
                        "pitch": 0.25454065203666687,
                        "yaw": 179.6546173095703
                    }
                },
                "velocity": {
                    "x": -8.065474510192871,
                    "y": 0.048599038273096085,
                    "z": 0.033235814422369
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.00620174407959,
                "transform": {
                    "location": {
                        "x": -61.330936431884766,
                        "y": 4294.62939453125,
                        "z": 372.6442565917969
                    },
                    "rotation": {
                        "roll": 0.0011008409783244133,
                        "pitch": 0.23787498474121094,
                        "yaw": 179.67999267578125
                    }
                },
                "velocity": {
                    "x": -8.005995750427246,
                    "y": 0.04680812358856201,
                    "z": 0.03337574005126953
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.276662349700928,
                "transform": {
                    "location": {
                        "x": -4.508281230926514,
                        "y": 4294.3349609375,
                        "z": 372.40191650390625
                    },
                    "rotation": {
                        "roll": 0.0023043800611048937,
                        "pitch": 0.27118581533432007,
                        "yaw": -179.82736206054688
                    }
                },
                "velocity": {
                    "x": -6.276600360870361,
                    "y": -0.009539761580526829,
                    "z": 0.026174059137701988
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1821577101945877,
        "expert_target_speed": 7.388256983442607,
        "target_point": [
            20.518654889124587,
            -0.4333872982140776
        ],
        "target_point_next": [
            71.51390927922239,
            -1.129743456515123
        ]
    },
    "135": {
        "acceleration": [
            0.2640724182128906,
            0.027783960103988647,
            -0.0013187527656555176
        ],
        "angular_velocity": [
            -0.03010701946914196,
            -0.07559484243392944,
            -0.24947379529476166
        ],
        "forward_vector": [
            -0.9999678134918213,
            -0.006686484441161156,
            0.004436478018760681
        ],
        "right_vector": [
            0.006685590837150812,
            -0.9999776482582092,
            -0.00021625313092954457
        ],
        "location": [
            -40.57546615600586,
            4291.18310546875,
            372.5580139160156
        ],
        "rotation": [
            0.01239051390439272,
            0.2541922926902771,
            -179.61688232421875
        ],
        "velocity": [
            -6.481236457824707,
            -0.03850717842578888,
            0.026078738272190094
        ],
        "speed": 6.4813508487834905,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.883619785308838,
                "transform": {
                    "location": {
                        "x": -81.44039154052734,
                        "y": 4301.4365234375,
                        "z": 372.7349548339844
                    },
                    "rotation": {
                        "roll": -0.001556396484375,
                        "pitch": -0.19149117171764374,
                        "yaw": -0.1892394721508026
                    }
                },
                "velocity": {
                    "x": 7.88350772857666,
                    "y": -0.02625168487429619,
                    "z": -0.032850466668605804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06653881072998,
                "transform": {
                    "location": {
                        "x": -81.50116729736328,
                        "y": 4298.1875,
                        "z": 372.7208251953125
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.22839468717575073,
                        "yaw": -0.1993408203125
                    }
                },
                "velocity": {
                    "x": 8.066426277160645,
                    "y": -0.02797063998878002,
                    "z": -0.03215634822845459
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05155086517334,
                "transform": {
                    "location": {
                        "x": -36.96812438964844,
                        "y": 4301.18603515625,
                        "z": 372.5465393066406
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": -0.2402040809392929,
                        "yaw": -0.3510131537914276
                    }
                },
                "velocity": {
                    "x": 8.051347732543945,
                    "y": -0.04699838161468506,
                    "z": -0.032518986612558365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.06037425994873,
                "transform": {
                    "location": {
                        "x": -36.99265670776367,
                        "y": 4297.9365234375,
                        "z": 372.5466003417969
                    },
                    "rotation": {
                        "roll": 0.00012849332415498793,
                        "pitch": -0.24001966416835785,
                        "yaw": -0.3431396186351776
                    }
                },
                "velocity": {
                    "x": 8.060163497924805,
                    "y": -0.048219308257102966,
                    "z": -0.03281265124678612
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.950967311859131,
                "transform": {
                    "location": {
                        "x": -25.023046493530273,
                        "y": 4294.41357421875,
                        "z": 372.48651123046875
                    },
                    "rotation": {
                        "roll": -6.10352071817033e-05,
                        "pitch": 0.25454747676849365,
                        "yaw": 179.6527557373047
                    }
                },
                "velocity": {
                    "x": -7.950753688812256,
                    "y": 0.04816403239965439,
                    "z": 0.03287094086408615
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019312858581543,
                "transform": {
                    "location": {
                        "x": -42.502498626708984,
                        "y": 4294.5166015625,
                        "z": 372.566162109375
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.24639905989170074,
                        "yaw": 179.65811157226562
                    }
                },
                "velocity": {
                    "x": -8.019100189208984,
                    "y": 0.047882579267024994,
                    "z": 0.03331438824534416
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010257720947266,
                "transform": {
                    "location": {
                        "x": -63.32843780517578,
                        "y": 4294.64111328125,
                        "z": 372.65252685546875
                    },
                    "rotation": {
                        "roll": 0.00036160534364171326,
                        "pitch": 0.23541611433029175,
                        "yaw": 179.6532745361328
                    }
                },
                "velocity": {
                    "x": -8.010054588317871,
                    "y": 0.04674506559967995,
                    "z": 0.032742224633693695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.476194858551025,
                "transform": {
                    "location": {
                        "x": -6.227421760559082,
                        "y": 4294.33251953125,
                        "z": 372.4091796875
                    },
                    "rotation": {
                        "roll": 0.0038706071209162474,
                        "pitch": 0.28998932242393494,
                        "yaw": -179.94003295898438
                    }
                },
                "velocity": {
                    "x": -7.4761223793029785,
                    "y": 0.0019891085103154182,
                    "z": 0.03283272683620453
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2005181759595871,
        "expert_target_speed": 7.392552539643305,
        "target_point": [
            18.899381205757102,
            -0.4115389894437577
        ],
        "target_point_next": [
            69.89534539616254,
            -1.0538150211299415
        ]
    },
    "140": {
        "acceleration": [
            -0.6136417388916016,
            -0.07737115025520325,
            -0.006880760192871094
        ],
        "angular_velocity": [
            -0.036611299961805344,
            0.12678664922714233,
            0.4623008966445923
        ],
        "forward_vector": [
            -0.9999608397483826,
            -0.007608175277709961,
            0.004513009451329708
        ],
        "right_vector": [
            0.007608836982399225,
            -0.9999710321426392,
            0.0001294282847084105
        ],
        "location": [
            -42.201873779296875,
            4291.17138671875,
            372.56475830078125
        ],
        "rotation": [
            -0.007415770087391138,
            0.25857728719711304,
            -179.56407165527344
        ],
        "velocity": [
            -6.535490989685059,
            -0.05836854502558708,
            0.026091154664754868
        ],
        "speed": 6.53575162956052,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001079559326172,
                "transform": {
                    "location": {
                        "x": -79.47132873535156,
                        "y": 4301.42822265625,
                        "z": 372.72711181640625
                    },
                    "rotation": {
                        "roll": -0.0030212400015443563,
                        "pitch": -0.23132483661174774,
                        "yaw": -0.2307128608226776
                    }
                },
                "velocity": {
                    "x": 8.000920295715332,
                    "y": -0.03782404214143753,
                    "z": -0.033354710787534714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.117156982421875,
                "transform": {
                    "location": {
                        "x": -79.46624755859375,
                        "y": 4298.1787109375,
                        "z": 372.7124938964844
                    },
                    "rotation": {
                        "roll": 0.001139995874837041,
                        "pitch": -0.23370173573493958,
                        "yaw": -0.2386474311351776
                    }
                },
                "velocity": {
                    "x": 8.116999626159668,
                    "y": -0.03867582976818085,
                    "z": -0.03269851580262184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052240371704102,
                "transform": {
                    "location": {
                        "x": -34.95445251464844,
                        "y": 4301.17431640625,
                        "z": 372.53814697265625
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.23995819687843323,
                        "yaw": -0.316986083984375
                    }
                },
                "velocity": {
                    "x": 8.052037239074707,
                    "y": -0.04699501395225525,
                    "z": -0.032572291791439056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.046303749084473,
                "transform": {
                    "location": {
                        "x": -34.97914123535156,
                        "y": 4297.9248046875,
                        "z": 372.5382080078125
                    },
                    "rotation": {
                        "roll": 0.00011842450476251543,
                        "pitch": -0.24069584906101227,
                        "yaw": -0.3470154106616974
                    }
                },
                "velocity": {
                    "x": 8.046089172363281,
                    "y": -0.048764944076538086,
                    "z": -0.03289979323744774
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -121.08015441894531,
                        "y": 4298.33251953125,
                        "z": 373.06463623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22500690817832947,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -121.0609359741211,
                        "y": 4301.58251953125,
                        "z": 373.06463623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22500690817832947,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.576530456542969,
                "transform": {
                    "location": {
                        "x": -26.959686279296875,
                        "y": 4294.42529296875,
                        "z": 372.4947814941406
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.22643442451953888,
                        "yaw": 179.65261840820312
                    }
                },
                "velocity": {
                    "x": -7.576322555541992,
                    "y": 0.04595448449254036,
                    "z": 0.0322207547724247
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017169952392578,
                "transform": {
                    "location": {
                        "x": -44.5041389465332,
                        "y": 4294.52880859375,
                        "z": 372.5744934082031
                    },
                    "rotation": {
                        "roll": 0.0011185937328264117,
                        "pitch": 0.2377178966999054,
                        "yaw": 179.65821838378906
                    }
                },
                "velocity": {
                    "x": -8.016955375671387,
                    "y": 0.04781241714954376,
                    "z": 0.03385283425450325
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.050912857055664,
                "transform": {
                    "location": {
                        "x": -65.33921813964844,
                        "y": 4294.65283203125,
                        "z": 372.6607666015625
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.2539805769920349,
                        "yaw": 179.6800079345703
                    }
                },
                "velocity": {
                    "x": -8.050715446472168,
                    "y": 0.04598359391093254,
                    "z": 0.032553814351558685
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.5828857421875,
                "transform": {
                    "location": {
                        "x": -8.185781478881836,
                        "y": 4294.33349609375,
                        "z": 372.4178466796875
                    },
                    "rotation": {
                        "roll": 0.0034704229328781366,
                        "pitch": 0.2911299765110016,
                        "yaw": 179.90672302246094
                    }
                },
                "velocity": {
                    "x": -8.582780838012695,
                    "y": 0.019648602232336998,
                    "z": 0.03763163462281227
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.22752457857131958,
        "expert_target_speed": 7.438531321969574,
        "target_point": [
            17.272544142231343,
            -0.4283029962573923
        ],
        "target_point_next": [
            68.2678946675027,
            -1.1175830661113455
        ]
    },
    "145": {
        "acceleration": [
            -0.5274391174316406,
            -0.05186900496482849,
            0.004377923905849457
        ],
        "angular_velocity": [
            -0.04718974605202675,
            0.11254911869764328,
            0.48157548904418945
        ],
        "forward_vector": [
            -0.9999403953552246,
            -0.009697075933218002,
            0.005017259623855352
        ],
        "right_vector": [
            0.009698408655822277,
            -0.9999529719352722,
            0.00024127929646056145
        ],
        "location": [
            -43.84976577758789,
            4291.15478515625,
            372.5715026855469
        ],
        "rotation": [
            -0.013824460096657276,
            0.2874689996242523,
            -179.4443817138672
        ],
        "velocity": [
            -6.666277885437012,
            -0.07351035624742508,
            0.026168154552578926
        ],
        "speed": 6.666683179688546,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.086203575134277,
                "transform": {
                    "location": {
                        "x": -77.45015716552734,
                        "y": 4301.41845703125,
                        "z": 372.71893310546875
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -0.2486325353384018,
                        "yaw": -0.267547607421875
                    }
                },
                "velocity": {
                    "x": 8.08603572845459,
                    "y": -0.040387075394392014,
                    "z": -0.03307196497917175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.963321208953857,
                "transform": {
                    "location": {
                        "x": -77.46398162841797,
                        "y": 4298.16943359375,
                        "z": 372.70428466796875
                    },
                    "rotation": {
                        "roll": 0.0004839470493607223,
                        "pitch": -0.24193894863128662,
                        "yaw": -0.274444580078125
                    }
                },
                "velocity": {
                    "x": 7.963154315948486,
                    "y": -0.03955606371164322,
                    "z": -0.033051081001758575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052116394042969,
                "transform": {
                    "location": {
                        "x": -32.9416389465332,
                        "y": 4301.16259765625,
                        "z": 372.52978515625
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.3554992377758026
                    }
                },
                "velocity": {
                    "x": 8.051894187927246,
                    "y": -0.04897267371416092,
                    "z": -0.03438524156808853
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060196876525879,
                "transform": {
                    "location": {
                        "x": -32.965858459472656,
                        "y": 4297.9130859375,
                        "z": 372.5297546386719
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.2396576702594757,
                        "yaw": -0.3471069037914276
                    }
                },
                "velocity": {
                    "x": 8.05998420715332,
                    "y": -0.04884059354662895,
                    "z": -0.032098665833473206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -118.99819946289062,
                        "y": 4298.3203125,
                        "z": 372.99713134765625
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": -0.22637978196144104,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -118.9789810180664,
                        "y": 4301.5703125,
                        "z": 372.99713134765625
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": -0.22637978196144104,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.816567897796631,
                "transform": {
                    "location": {
                        "x": -28.874452590942383,
                        "y": 4294.43701171875,
                        "z": 372.5026550292969
                    },
                    "rotation": {
                        "roll": -0.0005798338679596782,
                        "pitch": 0.24620097875595093,
                        "yaw": 179.65618896484375
                    }
                },
                "velocity": {
                    "x": -7.816359043121338,
                    "y": 0.046897042542696,
                    "z": 0.032553330063819885
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034122467041016,
                "transform": {
                    "location": {
                        "x": -46.51179504394531,
                        "y": 4294.5400390625,
                        "z": 372.5827941894531
                    },
                    "rotation": {
                        "roll": 0.0007372296531684697,
                        "pitch": 0.25164464116096497,
                        "yaw": 179.65817260742188
                    }
                },
                "velocity": {
                    "x": -8.03391170501709,
                    "y": 0.04791143909096718,
                    "z": 0.03306208550930023
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.009418487548828,
                "transform": {
                    "location": {
                        "x": -67.34577941894531,
                        "y": 4294.6650390625,
                        "z": 372.6690979003906
                    },
                    "rotation": {
                        "roll": 0.0009875755058601499,
                        "pitch": 0.23586007952690125,
                        "yaw": 179.65199279785156
                    }
                },
                "velocity": {
                    "x": -8.00920581817627,
                    "y": 0.04777567461133003,
                    "z": 0.033656004816293716
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.622895240783691,
                "transform": {
                    "location": {
                        "x": -10.371171951293945,
                        "y": 4294.3388671875,
                        "z": 372.42767333984375
                    },
                    "rotation": {
                        "roll": 0.0018696660408750176,
                        "pitch": 0.2618899345397949,
                        "yaw": 179.7920379638672
                    }
                },
                "velocity": {
                    "x": -8.622772216796875,
                    "y": 0.027094261720776558,
                    "z": 0.03728986531496048
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2430528700351715,
        "expert_target_speed": 7.548718938864813,
        "target_point": [
            15.623636214099786,
            -0.4650054710288646
        ],
        "target_point_next": [
            66.61743554577924,
            -1.2608144496160967
        ]
    },
    "150": {
        "acceleration": [
            -1.5639019012451172,
            -0.08838877081871033,
            0.009373649954795837
        ],
        "angular_velocity": [
            -0.04236341640353203,
            0.22233344614505768,
            0.511011004447937
        ],
        "forward_vector": [
            -0.9999120831489563,
            -0.01187982503324747,
            0.005887473933398724
        ],
        "right_vector": [
            0.011881676502525806,
            -0.9999293684959412,
            0.0002796270127873868
        ],
        "location": [
            -45.553592681884766,
            4291.134765625,
            372.5783386230469
        ],
        "rotation": [
            -0.01602172665297985,
            0.33732935786247253,
            -179.31930541992188
        ],
        "velocity": [
            -6.962087154388428,
            -0.09234347194433212,
            0.02979225106537342
        ],
        "speed": 6.962699538405423,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030279159545898,
                "transform": {
                    "location": {
                        "x": -75.43687438964844,
                        "y": 4301.4091796875,
                        "z": 372.71051025390625
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.2286405712366104,
                        "yaw": -0.2814330756664276
                    }
                },
                "velocity": {
                    "x": 8.030112266540527,
                    "y": -0.03947525843977928,
                    "z": -0.033598899841308594
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.11365795135498,
                "transform": {
                    "location": {
                        "x": -75.45171356201172,
                        "y": 4298.15966796875,
                        "z": 372.69586181640625
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.23235619068145752,
                        "yaw": -0.279449462890625
                    }
                },
                "velocity": {
                    "x": 8.113492965698242,
                    "y": -0.03945503011345863,
                    "z": -0.033542700111866
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052053451538086,
                "transform": {
                    "location": {
                        "x": -30.927968978881836,
                        "y": 4301.150390625,
                        "z": 372.5213623046875
                    },
                    "rotation": {
                        "roll": -0.0019531246507540345,
                        "pitch": -0.23946641385555267,
                        "yaw": -0.331085205078125
                    }
                },
                "velocity": {
                    "x": 8.051837921142578,
                    "y": -0.048175912350416183,
                    "z": -0.0338890440762043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047431945800781,
                "transform": {
                    "location": {
                        "x": -30.9522647857666,
                        "y": 4297.9013671875,
                        "z": 372.5213623046875
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.2395620346069336,
                        "yaw": -0.3475036025047302
                    }
                },
                "velocity": {
                    "x": 8.047213554382324,
                    "y": -0.04883991926908493,
                    "z": -0.03357013687491417
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -116.91655731201172,
                        "y": 4298.30810546875,
                        "z": 372.91497802734375
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": -0.22637978196144104,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -116.8973388671875,
                        "y": 4301.55810546875,
                        "z": 372.91497802734375
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": -0.22637978196144104,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.7735595703125,
                "transform": {
                    "location": {
                        "x": -30.834373474121094,
                        "y": 4294.44873046875,
                        "z": 372.5108642578125
                    },
                    "rotation": {
                        "roll": -0.0013122555101290345,
                        "pitch": 0.24251268804073334,
                        "yaw": 179.65614318847656
                    }
                },
                "velocity": {
                    "x": -7.773350238800049,
                    "y": 0.04669443890452385,
                    "z": 0.0327853187918663
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026983261108398,
                "transform": {
                    "location": {
                        "x": -48.51929473876953,
                        "y": 4294.55224609375,
                        "z": 372.5912170410156
                    },
                    "rotation": {
                        "roll": 0.0010712210787460208,
                        "pitch": 0.24185699224472046,
                        "yaw": 179.65850830078125
                    }
                },
                "velocity": {
                    "x": -8.02677059173584,
                    "y": 0.04782574996352196,
                    "z": 0.03361867740750313
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029411315917969,
                "transform": {
                    "location": {
                        "x": -69.34976196289062,
                        "y": 4294.67626953125,
                        "z": 372.67730712890625
                    },
                    "rotation": {
                        "roll": 0.0005664854543283582,
                        "pitch": 0.24373528361320496,
                        "yaw": 179.6770477294922
                    }
                },
                "velocity": {
                    "x": -8.029205322265625,
                    "y": 0.0470389686524868,
                    "z": 0.033054254949092865
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.481775283813477,
                "transform": {
                    "location": {
                        "x": -12.5278902053833,
                        "y": 4294.34619140625,
                        "z": 372.4371643066406
                    },
                    "rotation": {
                        "roll": 0.0016852820990607142,
                        "pitch": 0.24492374062538147,
                        "yaw": 179.74273681640625
                    }
                },
                "velocity": {
                    "x": -8.481618881225586,
                    "y": 0.03645826131105423,
                    "z": 0.03639457747340202
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2742716073989868,
        "expert_target_speed": 7.794444702143189,
        "target_point": [
            13.918639402791547,
            -0.49888654977767855
        ],
        "target_point_next": [
            64.91058001552607,
            -1.406010994023207
        ]
    },
    "155": {
        "acceleration": [
            -1.0122871398925781,
            -0.07301643490791321,
            -0.003299713134765625
        ],
        "angular_velocity": [
            -0.02024206519126892,
            0.07145161926746368,
            0.5178281664848328
        ],
        "forward_vector": [
            -0.9998789429664612,
            -0.014148809015750885,
            0.006480052135884762
        ],
        "right_vector": [
            0.014150896109640598,
            -0.9998998641967773,
            0.00027643036446534097
        ],
        "location": [
            -47.3342170715332,
            4291.109375,
            372.5857238769531
        ],
        "rotation": [
            -0.01583862490952015,
            0.3712822198867798,
            -179.1892852783203
        ],
        "velocity": [
            -7.2697882652282715,
            -0.11233177036046982,
            0.02937662973999977
        ],
        "speed": 7.2706560809794185,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.001585006713867,
                "transform": {
                    "location": {
                        "x": -73.43538665771484,
                        "y": 4301.3994140625,
                        "z": 372.70233154296875
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": -0.23547758162021637,
                        "yaw": -0.296783447265625
                    }
                },
                "velocity": {
                    "x": 8.001399993896484,
                    "y": -0.04311446473002434,
                    "z": -0.033181510865688324
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.00999927520752,
                "transform": {
                    "location": {
                        "x": -73.43531036376953,
                        "y": 4298.1494140625,
                        "z": 372.6876525878906
                    },
                    "rotation": {
                        "roll": 0.0008933083736337721,
                        "pitch": -0.23743101954460144,
                        "yaw": -0.2994385063648224
                    }
                },
                "velocity": {
                    "x": 8.009821891784668,
                    "y": -0.04199250787496567,
                    "z": -0.03288453072309494
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052032470703125,
                "transform": {
                    "location": {
                        "x": -28.914297103881836,
                        "y": 4301.13916015625,
                        "z": 372.51300048828125
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.2396918088197708,
                        "yaw": -0.35974112153053284
                    }
                },
                "velocity": {
                    "x": 8.051815032958984,
                    "y": -0.048979613929986954,
                    "z": -0.033100228756666183
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058753967285156,
                "transform": {
                    "location": {
                        "x": -28.93914031982422,
                        "y": 4297.8896484375,
                        "z": 372.51300048828125
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": -0.23937763273715973,
                        "yaw": -0.343597412109375
                    }
                },
                "velocity": {
                    "x": 8.058544158935547,
                    "y": -0.048274584114551544,
                    "z": -0.03247978165745735
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.432049751281738,
                "transform": {
                    "location": {
                        "x": -114.97531127929688,
                        "y": 4298.2978515625,
                        "z": 372.8609619140625
                    },
                    "rotation": {
                        "roll": -0.007080076728016138,
                        "pitch": -0.33978140354156494,
                        "yaw": -0.2693480849266052
                    }
                },
                "velocity": {
                    "x": 6.4311652183532715,
                    "y": 0.0030984848272055387,
                    "z": -0.10660047084093094
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.296888828277588,
                "transform": {
                    "location": {
                        "x": -114.96405792236328,
                        "y": 4301.548828125,
                        "z": 372.8741760253906
                    },
                    "rotation": {
                        "roll": -0.014312744140625,
                        "pitch": -0.4112866520881653,
                        "yaw": -0.2466735690832138
                    }
                },
                "velocity": {
                    "x": 6.296646595001221,
                    "y": 0.00973027478903532,
                    "z": 0.05438154190778732
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.695550441741943,
                "transform": {
                    "location": {
                        "x": -32.76124954223633,
                        "y": 4294.46044921875,
                        "z": 372.5189514160156
                    },
                    "rotation": {
                        "roll": 0.00041833583964034915,
                        "pitch": 0.2336949110031128,
                        "yaw": 179.66075134277344
                    }
                },
                "velocity": {
                    "x": -7.6953444480896,
                    "y": 0.04557526111602783,
                    "z": 0.03303898870944977
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018590927124023,
                "transform": {
                    "location": {
                        "x": -50.523826599121094,
                        "y": 4294.5634765625,
                        "z": 372.5995178222656
                    },
                    "rotation": {
                        "roll": 0.0010522789089009166,
                        "pitch": 0.24433633685112,
                        "yaw": 179.65841674804688
                    }
                },
                "velocity": {
                    "x": -8.018381118774414,
                    "y": 0.04776715487241745,
                    "z": 0.03291207179427147
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030872344970703,
                "transform": {
                    "location": {
                        "x": -71.35836029052734,
                        "y": 4294.68798828125,
                        "z": 372.6855773925781
                    },
                    "rotation": {
                        "roll": 2.9447852284647524e-05,
                        "pitch": 0.2451559603214264,
                        "yaw": 179.65077209472656
                    }
                },
                "velocity": {
                    "x": -8.03066349029541,
                    "y": 0.04727975279092789,
                    "z": 0.03336160629987717
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.831717491149902,
                "transform": {
                    "location": {
                        "x": -14.479218482971191,
                        "y": 4294.35498046875,
                        "z": 372.4460754394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.202043816447258,
                        "yaw": 179.7063751220703
                    }
                },
                "velocity": {
                    "x": -6.831571102142334,
                    "y": 0.03353550285100937,
                    "z": 0.029622239992022514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.29825079441070557,
        "expert_target_speed": 8.044537454639881,
        "target_point": [
            12.136666061540417,
            -0.5306640243223956
        ],
        "target_point_next": [
            63.12641687411916,
            -1.5535004145222264
        ]
    },
    "160": {
        "acceleration": [
            -1.5992164611816406,
            -0.10580569505691528,
            0.0011940300464630127
        ],
        "angular_velocity": [
            0.012069419957697392,
            0.06268234550952911,
            0.556257426738739
        ],
        "forward_vector": [
            -0.999841034412384,
            -0.016513090580701828,
            0.006721326150000095
        ],
        "right_vector": [
            0.016515759751200676,
            -0.9998635053634644,
            0.00034194206818938255
        ],
        "location": [
            -49.196327209472656,
            4291.0791015625,
            372.5933837890625
        ],
        "rotation": [
            -0.019592279568314552,
            0.38510653376579285,
            -179.05380249023438
        ],
        "velocity": [
            -7.612613201141357,
            -0.13548418879508972,
            0.030329780653119087
        ],
        "speed": 7.61381873409166,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.07806396484375,
                "transform": {
                    "location": {
                        "x": -71.42304229736328,
                        "y": 4301.3876953125,
                        "z": 372.6940612792969
                    },
                    "rotation": {
                        "roll": 1.2498323485488072e-05,
                        "pitch": -0.23724660277366638,
                        "yaw": -0.3090514838695526
                    }
                },
                "velocity": {
                    "x": 8.07787799835205,
                    "y": -0.043536633253097534,
                    "z": -0.03331027925014496
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07313346862793,
                "transform": {
                    "location": {
                        "x": -71.4266357421875,
                        "y": 4298.1376953125,
                        "z": 372.6793518066406
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": -0.23590105772018433,
                        "yaw": -0.3091124892234802
                    }
                },
                "velocity": {
                    "x": 8.072946548461914,
                    "y": -0.04351898655295372,
                    "z": -0.03376614674925804
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051370620727539,
                "transform": {
                    "location": {
                        "x": -26.900779724121094,
                        "y": 4301.126953125,
                        "z": 372.5046081542969
                    },
                    "rotation": {
                        "roll": 0.0002952640934381634,
                        "pitch": -0.24081195890903473,
                        "yaw": -0.3257140815258026
                    }
                },
                "velocity": {
                    "x": 8.051156997680664,
                    "y": -0.04828978329896927,
                    "z": -0.03320116922259331
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04796314239502,
                "transform": {
                    "location": {
                        "x": -26.925859451293945,
                        "y": 4297.8779296875,
                        "z": 372.5045471191406
                    },
                    "rotation": {
                        "roll": 1.9113098460366018e-05,
                        "pitch": -0.24038849771022797,
                        "yaw": -0.34539794921875
                    }
                },
                "velocity": {
                    "x": 8.047741889953613,
                    "y": -0.049357231706380844,
                    "z": -0.03364400193095207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.5060505867004395,
                "transform": {
                    "location": {
                        "x": -113.3563232421875,
                        "y": 4298.30126953125,
                        "z": 372.8496398925781
                    },
                    "rotation": {
                        "roll": -0.007354736793786287,
                        "pitch": -0.26324230432510376,
                        "yaw": 0.08251556754112244
                    }
                },
                "velocity": {
                    "x": 6.505923748016357,
                    "y": 0.03200913220643997,
                    "z": -0.024993523955345154
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.533401966094971,
                "transform": {
                    "location": {
                        "x": -113.35562133789062,
                        "y": 4301.5517578125,
                        "z": 372.88818359375
                    },
                    "rotation": {
                        "roll": -0.010528564453125,
                        "pitch": -0.2866220474243164,
                        "yaw": 0.07713858783245087
                    }
                },
                "velocity": {
                    "x": 6.533290386199951,
                    "y": 0.030267639085650444,
                    "z": 0.023253517225384712
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.77886438369751,
                "transform": {
                    "location": {
                        "x": -34.6955451965332,
                        "y": 4294.47216796875,
                        "z": 372.5269470214844
                    },
                    "rotation": {
                        "roll": 0.0007958310889080167,
                        "pitch": 0.24585947394371033,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -7.778658866882324,
                    "y": 0.04595780372619629,
                    "z": 0.03295784071087837
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037894248962402,
                "transform": {
                    "location": {
                        "x": -52.531639099121094,
                        "y": 4294.57568359375,
                        "z": 372.6078796386719
                    },
                    "rotation": {
                        "roll": -6.103521445766091e-05,
                        "pitch": 0.24598924815654755,
                        "yaw": 179.65835571289062
                    }
                },
                "velocity": {
                    "x": -8.037680625915527,
                    "y": 0.04801641032099724,
                    "z": 0.03361799195408821
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019482612609863,
                "transform": {
                    "location": {
                        "x": -73.36351776123047,
                        "y": 4294.69970703125,
                        "z": 372.6938171386719
                    },
                    "rotation": {
                        "roll": 0.0009031250956468284,
                        "pitch": 0.2396918088197708,
                        "yaw": 179.6749725341797
                    }
                },
                "velocity": {
                    "x": -8.01927375793457,
                    "y": 0.04760998487472534,
                    "z": 0.0328824520111084
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.207996368408203,
                "transform": {
                    "location": {
                        "x": -16.072656631469727,
                        "y": 4294.36279296875,
                        "z": 372.4527893066406
                    },
                    "rotation": {
                        "roll": 5.491698539117351e-05,
                        "pitch": 0.21359366178512573,
                        "yaw": 179.6946563720703
                    }
                },
                "velocity": {
                    "x": -6.207855701446533,
                    "y": 0.03229021653532982,
                    "z": 0.026551809161901474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3367370665073395,
        "expert_target_speed": 8.31633622618634,
        "target_point": [
            10.273021158351886,
            -0.5588805421436526
        ],
        "target_point_next": [
            61.26021078342664,
            -1.702286133638221
        ]
    },
    "165": {
        "acceleration": [
            -0.9786319732666016,
            -0.08880317211151123,
            -0.00738680362701416
        ],
        "angular_velocity": [
            -0.01807847060263157,
            -0.03158527985215187,
            0.5671927332878113
        ],
        "forward_vector": [
            -0.9997971057891846,
            -0.01897025853395462,
            0.006776400376111269
        ],
        "right_vector": [
            0.018973082304000854,
            -0.9998199343681335,
            0.0003525943902786821
        ],
        "location": [
            -51.139373779296875,
            4291.04248046875,
            372.6014099121094
        ],
        "rotation": [
            -0.02020263485610485,
            0.3882620930671692,
            -178.91299438476562
        ],
        "velocity": [
            -7.918050765991211,
            -0.1596897542476654,
            0.03327179700136185
        ],
        "speed": 7.919660898701767,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9959397315979,
                "transform": {
                    "location": {
                        "x": -69.41468811035156,
                        "y": 4301.3759765625,
                        "z": 372.68572998046875
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": -0.23458966612815857,
                        "yaw": -0.3121642768383026
                    }
                },
                "velocity": {
                    "x": 7.9957499504089355,
                    "y": -0.043748240917921066,
                    "z": -0.033470518887043
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.028743743896484,
                "transform": {
                    "location": {
                        "x": -69.41265106201172,
                        "y": 4298.1259765625,
                        "z": 372.67108154296875
                    },
                    "rotation": {
                        "roll": 0.00016233816859312356,
                        "pitch": -0.23624257743358612,
                        "yaw": -0.31640616059303284
                    }
                },
                "velocity": {
                    "x": 8.02854061126709,
                    "y": -0.04654710739850998,
                    "z": -0.033090077340602875
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052633285522461,
                "transform": {
                    "location": {
                        "x": -24.887109756469727,
                        "y": 4301.11572265625,
                        "z": 372.4961242675781
                    },
                    "rotation": {
                        "roll": 0.00016357707499992102,
                        "pitch": -0.24270392954349518,
                        "yaw": -0.3597106337547302
                    }
                },
                "velocity": {
                    "x": 8.052417755126953,
                    "y": -0.0482577346265316,
                    "z": -0.03381361812353134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059929847717285,
                "transform": {
                    "location": {
                        "x": -24.912109375,
                        "y": 4297.8662109375,
                        "z": 372.49615478515625
                    },
                    "rotation": {
                        "roll": 0.0006449570646509528,
                        "pitch": -0.24176135659217834,
                        "yaw": -0.3493652641773224
                    }
                },
                "velocity": {
                    "x": 8.059709548950195,
                    "y": -0.04989144206047058,
                    "z": -0.03265390172600746
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.431234836578369,
                "transform": {
                    "location": {
                        "x": -111.73937225341797,
                        "y": 4298.30810546875,
                        "z": 372.8432312011719
                    },
                    "rotation": {
                        "roll": -0.004730223678052425,
                        "pitch": -0.23605132102966309,
                        "yaw": 0.24690788984298706
                    }
                },
                "velocity": {
                    "x": 6.431091785430908,
                    "y": 0.0348413810133934,
                    "z": -0.025112876668572426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.314459800720215,
                "transform": {
                    "location": {
                        "x": -111.7503890991211,
                        "y": 4301.55810546875,
                        "z": 372.8873291015625
                    },
                    "rotation": {
                        "roll": -0.00518798828125,
                        "pitch": -0.24261513352394104,
                        "yaw": 0.23162133991718292
                    }
                },
                "velocity": {
                    "x": 6.31434965133667,
                    "y": 0.03366613760590553,
                    "z": -0.016144342720508575
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.768231391906738,
                "transform": {
                    "location": {
                        "x": -36.64273452758789,
                        "y": 4294.48388671875,
                        "z": 372.53509521484375
                    },
                    "rotation": {
                        "roll": 7.9826706496533e-05,
                        "pitch": 0.2387082725763321,
                        "yaw": 179.6611328125
                    }
                },
                "velocity": {
                    "x": -7.768025875091553,
                    "y": 0.04594483599066734,
                    "z": 0.03294827416539192
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01474380493164,
                "transform": {
                    "location": {
                        "x": -54.537654876708984,
                        "y": 4294.5869140625,
                        "z": 372.61614990234375
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": 0.2411944568157196,
                        "yaw": 179.65835571289062
                    }
                },
                "velocity": {
                    "x": -8.014534950256348,
                    "y": 0.047798555344343185,
                    "z": 0.03269871696829796
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029461860656738,
                "transform": {
                    "location": {
                        "x": -75.37015533447266,
                        "y": 4294.71142578125,
                        "z": 372.7021484375
                    },
                    "rotation": {
                        "roll": 0.0006150756380520761,
                        "pitch": 0.24458906054496765,
                        "yaw": 179.64698791503906
                    }
                },
                "velocity": {
                    "x": -8.029251098632812,
                    "y": 0.04767175391316414,
                    "z": 0.03329546004533768
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.73848295211792,
                "transform": {
                    "location": {
                        "x": -17.675233840942383,
                        "y": 4294.37158203125,
                        "z": 372.4591979980469
                    },
                    "rotation": {
                        "roll": 0.0001944737887242809,
                        "pitch": 0.2565692067146301,
                        "yaw": 179.68624877929688
                    }
                },
                "velocity": {
                    "x": -6.73831844329834,
                    "y": 0.03792261332273483,
                    "z": 0.027994269505143166
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3624388873577118,
        "expert_target_speed": 8.552157888458385,
        "target_point": [
            8.328224993438614,
            -0.5838793654194894
        ],
        "target_point_next": [
            59.31245058793921,
            -1.8525884491190165
        ]
    },
    "170": {
        "acceleration": [
            -1.5238189697265625,
            0.07439404726028442,
            -0.007482171058654785
        ],
        "angular_velocity": [
            0.12699024379253387,
            0.045720335096120834,
            -0.5014514327049255
        ],
        "forward_vector": [
            -0.9997887015342712,
            -0.019413627684116364,
            0.006754704285413027
        ],
        "right_vector": [
            0.019413024187088013,
            -0.9998115301132202,
            -0.00015510348021052778
        ],
        "location": [
            -53.16148376464844,
            4291.0029296875,
            372.60986328125
        ],
        "rotation": [
            0.008886977098882198,
            0.38701897859573364,
            -178.88758850097656
        ],
        "velocity": [
            -8.244606018066406,
            -0.1513855755329132,
            0.033206671476364136
        ],
        "speed": 8.245995754644568,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065484046936035,
                "transform": {
                    "location": {
                        "x": -67.40726470947266,
                        "y": 4301.3642578125,
                        "z": 372.677490234375
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.2375812828540802,
                        "yaw": -0.316864013671875
                    }
                },
                "velocity": {
                    "x": 8.065290451049805,
                    "y": -0.04467463865876198,
                    "z": -0.033539026975631714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072178840637207,
                "transform": {
                    "location": {
                        "x": -67.400390625,
                        "y": 4298.1142578125,
                        "z": 372.6627502441406
                    },
                    "rotation": {
                        "roll": 0.00026912798057310283,
                        "pitch": -0.23635868728160858,
                        "yaw": -0.3202208876609802
                    }
                },
                "velocity": {
                    "x": 8.07198429107666,
                    "y": -0.0450415201485157,
                    "z": -0.0333406887948513
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051129341125488,
                "transform": {
                    "location": {
                        "x": -22.87351417541504,
                        "y": 4301.103515625,
                        "z": 372.4876403808594
                    },
                    "rotation": {
                        "roll": 0.0013236826052889228,
                        "pitch": -0.24224629998207092,
                        "yaw": -0.3296814262866974
                    }
                },
                "velocity": {
                    "x": 8.050909996032715,
                    "y": -0.04885097220540047,
                    "z": -0.03380737081170082
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047457695007324,
                "transform": {
                    "location": {
                        "x": -22.89890480041504,
                        "y": 4297.8544921875,
                        "z": 372.4877014160156
                    },
                    "rotation": {
                        "roll": 0.00038591044722124934,
                        "pitch": -0.24237607419490814,
                        "yaw": -0.3508910834789276
                    }
                },
                "velocity": {
                    "x": 8.047240257263184,
                    "y": -0.049243856221437454,
                    "z": -0.03267562389373779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.322741985321045,
                "transform": {
                    "location": {
                        "x": -110.30265045166016,
                        "y": 4298.3154296875,
                        "z": 372.837890625
                    },
                    "rotation": {
                        "roll": -0.0010375973070040345,
                        "pitch": -0.2820184826850891,
                        "yaw": 0.2900490462779999
                    }
                },
                "velocity": {
                    "x": 5.322690963745117,
                    "y": 0.010982404462993145,
                    "z": -0.020511899143457413
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.174673557281494,
                "transform": {
                    "location": {
                        "x": -110.33546447753906,
                        "y": 4301.5654296875,
                        "z": 372.8834228515625
                    },
                    "rotation": {
                        "roll": 0.002423023572191596,
                        "pitch": -0.32791054248809814,
                        "yaw": 0.22020511329174042
                    }
                },
                "velocity": {
                    "x": 5.174635887145996,
                    "y": 0.007126758340746164,
                    "z": -0.01833414100110531
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.701550483703613,
                "transform": {
                    "location": {
                        "x": -38.57148361206055,
                        "y": 4294.49560546875,
                        "z": 372.54315185546875
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.23803891241550446,
                        "yaw": 179.66482543945312
                    }
                },
                "velocity": {
                    "x": -7.701351165771484,
                    "y": 0.04483049362897873,
                    "z": 0.032478075474500656
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034621238708496,
                "transform": {
                    "location": {
                        "x": -56.543670654296875,
                        "y": 4294.5986328125,
                        "z": 372.62445068359375
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": 0.24411094188690186,
                        "yaw": 179.6531982421875
                    }
                },
                "velocity": {
                    "x": -8.034403800964355,
                    "y": 0.04864325746893883,
                    "z": 0.033662185072898865
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025918006896973,
                "transform": {
                    "location": {
                        "x": -77.37726593017578,
                        "y": 4294.72314453125,
                        "z": 372.71038818359375
                    },
                    "rotation": {
                        "roll": 0.002036172663792968,
                        "pitch": 0.24260146915912628,
                        "yaw": 179.67210388183594
                    }
                },
                "velocity": {
                    "x": -8.025702476501465,
                    "y": 0.0478968471288681,
                    "z": 0.0340266115963459
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.543437480926514,
                "transform": {
                    "location": {
                        "x": -19.48843765258789,
                        "y": 4294.38134765625,
                        "z": 372.466796875
                    },
                    "rotation": {
                        "roll": -0.00027465811581350863,
                        "pitch": 0.2721215486526489,
                        "yaw": 179.674072265625
                    }
                },
                "velocity": {
                    "x": -7.543248176574707,
                    "y": 0.04275601729750633,
                    "z": 0.032121218740940094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.39453235268592834,
        "expert_target_speed": 8.796961560118332,
        "target_point": [
            57.2891264914122,
            -1.87917661838264
        ],
        "target_point_next": [
            108.27275775501957,
            -3.1704944492960054
        ]
    },
    "175": {
        "acceleration": [
            -0.8560562133789062,
            0.07074832916259766,
            -0.005011409521102905
        ],
        "angular_velocity": [
            0.0355200432240963,
            -0.0601562075316906,
            -0.6332432627677917
        ],
        "forward_vector": [
            -0.9998367428779602,
            -0.01679772324860096,
            0.006658861879259348
        ],
        "right_vector": [
            0.016794878989458084,
            -0.9998588562011719,
            -0.0004828472447115928
        ],
        "location": [
            -55.26007843017578,
            4290.966796875,
            372.61859130859375
        ],
        "rotation": [
            0.027665724977850914,
            0.38152751326560974,
            -179.03749084472656
        ],
        "velocity": [
            -8.528999328613281,
            -0.13401858508586884,
            0.03393936902284622
        ],
        "speed": 8.530052199642991,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.007589340209961,
                "transform": {
                    "location": {
                        "x": -65.39781188964844,
                        "y": 4301.3525390625,
                        "z": 372.6692199707031
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.23596252501010895,
                        "yaw": -0.31887808442115784
                    }
                },
                "velocity": {
                    "x": 8.007389068603516,
                    "y": -0.04616168513894081,
                    "z": -0.0328957736492157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024810791015625,
                "transform": {
                    "location": {
                        "x": -65.38819885253906,
                        "y": 4298.1025390625,
                        "z": 372.65447998046875
                    },
                    "rotation": {
                        "roll": 0.000834447389934212,
                        "pitch": -0.23675483465194702,
                        "yaw": -0.3196716010570526
                    }
                },
                "velocity": {
                    "x": 8.024614334106445,
                    "y": -0.04475453868508339,
                    "z": -0.033869870007038116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05285930633545,
                "transform": {
                    "location": {
                        "x": -20.859844207763672,
                        "y": 4301.09228515625,
                        "z": 372.4791259765625
                    },
                    "rotation": {
                        "roll": 0.00014464068226516247,
                        "pitch": -0.24301128089427948,
                        "yaw": -0.3662414252758026
                    }
                },
                "velocity": {
                    "x": 8.052634239196777,
                    "y": -0.049873530864715576,
                    "z": -0.03370072320103645
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059091567993164,
                "transform": {
                    "location": {
                        "x": -20.88538932800293,
                        "y": 4297.8427734375,
                        "z": 372.4791564941406
                    },
                    "rotation": {
                        "roll": 0.0007988732540979981,
                        "pitch": -0.24353037774562836,
                        "yaw": -0.3511962592601776
                    }
                },
                "velocity": {
                    "x": 8.058874130249023,
                    "y": -0.04930693656206131,
                    "z": -0.03269948437809944
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.904297351837158,
                "transform": {
                    "location": {
                        "x": -108.92593383789062,
                        "y": 4298.31689453125,
                        "z": 372.8319091796875
                    },
                    "rotation": {
                        "roll": 0.0005300729535520077,
                        "pitch": -0.21890072524547577,
                        "yaw": 0.11685477942228317
                    }
                },
                "velocity": {
                    "x": 5.904252052307129,
                    "y": -0.0022011392284184694,
                    "z": -0.023148169741034508
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.389560699462891,
                "transform": {
                    "location": {
                        "x": -109.03733825683594,
                        "y": 4301.56689453125,
                        "z": 372.8777160644531
                    },
                    "rotation": {
                        "roll": 0.0020330168772488832,
                        "pitch": -0.23971913754940033,
                        "yaw": 0.09263494610786438
                    }
                },
                "velocity": {
                    "x": 5.389518737792969,
                    "y": -0.001147319795563817,
                    "z": -0.021259455010294914
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.80747652053833,
                "transform": {
                    "location": {
                        "x": -40.51312255859375,
                        "y": 4294.50732421875,
                        "z": 372.5512390136719
                    },
                    "rotation": {
                        "roll": 0.0005137936677783728,
                        "pitch": 0.24254684150218964,
                        "yaw": 179.666015625
                    }
                },
                "velocity": {
                    "x": -7.807277202606201,
                    "y": 0.045520227402448654,
                    "z": 0.032220810651779175
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018768310546875,
                "transform": {
                    "location": {
                        "x": -58.55062484741211,
                        "y": 4294.6103515625,
                        "z": 372.63275146484375
                    },
                    "rotation": {
                        "roll": 0.0003084092168137431,
                        "pitch": 0.24353037774562836,
                        "yaw": 179.6531219482422
                    }
                },
                "velocity": {
                    "x": -8.018552780151367,
                    "y": 0.04845314845442772,
                    "z": 0.03335833549499512
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02424430847168,
                "transform": {
                    "location": {
                        "x": -79.38312530517578,
                        "y": 4294.73486328125,
                        "z": 372.7186584472656
                    },
                    "rotation": {
                        "roll": 0.0022111854050308466,
                        "pitch": 0.24261513352394104,
                        "yaw": 179.64283752441406
                    }
                },
                "velocity": {
                    "x": -8.024025917053223,
                    "y": 0.049270570278167725,
                    "z": 0.032840631902217865
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.974727630615234,
                "transform": {
                    "location": {
                        "x": -21.55679702758789,
                        "y": 4294.392578125,
                        "z": 372.4754638671875
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": 0.2886779308319092,
                        "yaw": 179.6724395751953
                    }
                },
                "velocity": {
                    "x": -8.974502563476562,
                    "y": 0.05126851797103882,
                    "z": 0.0375039279460907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.41442787647247314,
        "expert_target_speed": 9.004111429400105,
        "target_point": [
            55.19494156472524,
            -1.7301538844615014
        ],
        "target_point_next": [
            106.18177692943182,
            -2.8880735950737026
        ]
    },
    "180": {
        "acceleration": [
            -1.2786102294921875,
            0.07471367716789246,
            -0.002435445785522461
        ],
        "angular_velocity": [
            -0.007162126712501049,
            -0.0012078762520104647,
            -0.5765563249588013
        ],
        "forward_vector": [
            -0.999877393245697,
            -0.014260138384997845,
            0.006465389393270016
        ],
        "right_vector": [
            0.014256726950407028,
            -0.9998981952667236,
            -0.0005734203732572496
        ],
        "location": [
            -57.42913818359375,
            4290.93505859375,
            372.62750244140625
        ],
        "rotation": [
            0.032855257391929626,
            0.37044212222099304,
            -179.1829071044922
        ],
        "velocity": [
            -8.807169914245605,
            -0.1172252893447876,
            0.03662573918700218
        ],
        "speed": 8.807950026359988,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.06214714050293,
                "transform": {
                    "location": {
                        "x": -63.389373779296875,
                        "y": 4301.3408203125,
                        "z": 372.660888671875
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.236146941781044,
                        "yaw": -0.3200683295726776
                    }
                },
                "velocity": {
                    "x": 8.061955451965332,
                    "y": -0.04509134590625763,
                    "z": -0.032707858830690384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07568073272705,
                "transform": {
                    "location": {
                        "x": -63.3752326965332,
                        "y": 4298.09130859375,
                        "z": 372.6461486816406
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": -0.236146941781044,
                        "yaw": -0.3234557509422302
                    }
                },
                "velocity": {
                    "x": 8.075482368469238,
                    "y": -0.04566411301493645,
                    "z": -0.03339141234755516
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051706314086914,
                "transform": {
                    "location": {
                        "x": -18.846248626708984,
                        "y": 4301.080078125,
                        "z": 372.4706115722656
                    },
                    "rotation": {
                        "roll": -0.000579833984375,
                        "pitch": -0.2462761104106903,
                        "yaw": -0.3316650390625
                    }
                },
                "velocity": {
                    "x": 8.051490783691406,
                    "y": -0.048347074538469315,
                    "z": -0.03364024683833122
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.04768180847168,
                "transform": {
                    "location": {
                        "x": -18.87203025817871,
                        "y": 4297.8310546875,
                        "z": 372.4706115722656
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.24611902236938477,
                        "yaw": -0.3510741889476776
                    }
                },
                "velocity": {
                    "x": 8.047460556030273,
                    "y": -0.04933381453156471,
                    "z": -0.03370879590511322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.629880428314209,
                "transform": {
                    "location": {
                        "x": -107.32875061035156,
                        "y": 4298.31787109375,
                        "z": 372.8248291015625
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": -0.12368788570165634,
                        "yaw": -0.007659911643713713
                    }
                },
                "velocity": {
                    "x": 7.629822254180908,
                    "y": -0.00485702371224761,
                    "z": -0.029419226571917534
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.8858866691589355,
                "transform": {
                    "location": {
                        "x": -107.5805435180664,
                        "y": 4301.5673828125,
                        "z": 372.8707275390625
                    },
                    "rotation": {
                        "roll": 0.00022926600649952888,
                        "pitch": -0.10784868150949478,
                        "yaw": 0.04733877629041672
                    }
                },
                "velocity": {
                    "x": 6.885832786560059,
                    "y": -0.0036041929852217436,
                    "z": -0.02704073302447796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.272232055664062,
                "transform": {
                    "location": {
                        "x": -42.50109100341797,
                        "y": 4294.51904296875,
                        "z": 372.5594177246094
                    },
                    "rotation": {
                        "roll": 0.0006299459491856396,
                        "pitch": 0.26682814955711365,
                        "yaw": 179.67303466796875
                    }
                },
                "velocity": {
                    "x": -8.272027969360352,
                    "y": 0.047185253351926804,
                    "z": 0.03399112448096275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032438278198242,
                "transform": {
                    "location": {
                        "x": -60.55656051635742,
                        "y": 4294.62255859375,
                        "z": 372.64105224609375
                    },
                    "rotation": {
                        "roll": 0.00019029858231078833,
                        "pitch": 0.24335962533950806,
                        "yaw": 179.6444091796875
                    }
                },
                "velocity": {
                    "x": -8.032217025756836,
                    "y": 0.04988666996359825,
                    "z": 0.03266347944736481
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027188301086426,
                "transform": {
                    "location": {
                        "x": -81.38898468017578,
                        "y": 4294.74658203125,
                        "z": 372.7268981933594
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.2426971048116684,
                        "yaw": 179.67465209960938
                    }
                },
                "velocity": {
                    "x": -8.026985168457031,
                    "y": 0.04647056385874748,
                    "z": 0.03314445540308952
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.330554962158203,
                "transform": {
                    "location": {
                        "x": -23.741405487060547,
                        "y": 4294.40576171875,
                        "z": 372.4850769042969
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": 0.23397494852542877,
                        "yaw": 179.6637725830078
                    }
                },
                "velocity": {
                    "x": -8.33033561706543,
                    "y": 0.04846787825226784,
                    "z": 0.036055706441402435
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.42471107840538025,
        "expert_target_speed": 9.201343684759648,
        "target_point": [
            53.029862695408575,
            -1.5908813328678308
        ],
        "target_point_next": [
            104.01947236243201,
            -2.6194067669276464
        ]
    },
    "185": {
        "acceleration": [
            3.2093048095703125,
            0.3685806691646576,
            -0.006951689720153809
        ],
        "angular_velocity": [
            0.18254880607128143,
            -1.171918511390686,
            -1.839714765548706
        ],
        "forward_vector": [
            -0.9999503493309021,
            -0.009098002687096596,
            0.004074681084603071
        ],
        "right_vector": [
            0.009092963300645351,
            -0.9999579191207886,
            -0.0012535888236016035
        ],
        "location": [
            -59.615234375,
            4290.91259765625,
            372.6370544433594
        ],
        "rotation": [
            0.07182596623897552,
            0.23346267640590668,
            -179.4787139892578
        ],
        "velocity": [
            -8.507625579833984,
            -0.04901530593633652,
            0.03638848289847374
        ],
        "speed": 8.507766775532906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005765914916992,
                "transform": {
                    "location": {
                        "x": -61.38117218017578,
                        "y": 4301.3291015625,
                        "z": 372.6526184082031
                    },
                    "rotation": {
                        "roll": -0.00015258780331350863,
                        "pitch": -0.23633135855197906,
                        "yaw": -0.3234252631664276
                    }
                },
                "velocity": {
                    "x": 8.005570411682129,
                    "y": -0.045195117592811584,
                    "z": -0.03288392350077629
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02391529083252,
                "transform": {
                    "location": {
                        "x": -61.36312484741211,
                        "y": 4298.0791015625,
                        "z": 372.6379089355469
                    },
                    "rotation": {
                        "roll": -3.051761450478807e-05,
                        "pitch": -0.23837359249591827,
                        "yaw": -0.324249267578125
                    }
                },
                "velocity": {
                    "x": 8.023719787597656,
                    "y": -0.045412514358758926,
                    "z": -0.032714586704969406
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052006721496582,
                "transform": {
                    "location": {
                        "x": -16.832578659057617,
                        "y": 4301.06884765625,
                        "z": 372.46197509765625
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.24615317583084106,
                        "yaw": -0.36325064301490784
                    }
                },
                "velocity": {
                    "x": 8.051783561706543,
                    "y": -0.04966092109680176,
                    "z": -0.033761125057935715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.059137344360352,
                "transform": {
                    "location": {
                        "x": -16.85835838317871,
                        "y": 4297.8193359375,
                        "z": 372.4620361328125
                    },
                    "rotation": {
                        "roll": 0.00028588337590917945,
                        "pitch": -0.24575702846050262,
                        "yaw": -0.3544616401195526
                    }
                },
                "velocity": {
                    "x": 8.058913230895996,
                    "y": -0.04984119161963463,
                    "z": -0.03345603868365288
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.374493598937988,
                "transform": {
                    "location": {
                        "x": -105.265625,
                        "y": 4298.31591796875,
                        "z": 372.8168640136719
                    },
                    "rotation": {
                        "roll": 0.001898027490824461,
                        "pitch": -0.15902727842330933,
                        "yaw": -0.060607898980379105
                    }
                },
                "velocity": {
                    "x": 8.374402046203613,
                    "y": -0.020286036655306816,
                    "z": -0.03362014517188072
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.48266887664795,
                "transform": {
                    "location": {
                        "x": -105.61093139648438,
                        "y": 4301.56591796875,
                        "z": 372.86236572265625
                    },
                    "rotation": {
                        "roll": 0.00032716922578401864,
                        "pitch": -0.052640266716480255,
                        "yaw": 0.002654987620189786
                    }
                },
                "velocity": {
                    "x": 8.482603073120117,
                    "y": -0.004376663826406002,
                    "z": -0.03313228487968445
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.416936874389648,
                "transform": {
                    "location": {
                        "x": -44.643123626708984,
                        "y": 4294.53125,
                        "z": 372.56829833984375
                    },
                    "rotation": {
                        "roll": 0.0008279296453110874,
                        "pitch": 0.2516378164291382,
                        "yaw": 179.6643524169922
                    }
                },
                "velocity": {
                    "x": -8.416715621948242,
                    "y": 0.04931788891553879,
                    "z": 0.03595909848809242
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019372940063477,
                "transform": {
                    "location": {
                        "x": -62.56234359741211,
                        "y": 4294.63427734375,
                        "z": 372.6493225097656
                    },
                    "rotation": {
                        "roll": 0.0009561823680996895,
                        "pitch": 0.2434074431657791,
                        "yaw": 179.6441650390625
                    }
                },
                "velocity": {
                    "x": -8.019149780273438,
                    "y": 0.04972604662179947,
                    "z": 0.033339813351631165
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025459289550781,
                "transform": {
                    "location": {
                        "x": -83.39476013183594,
                        "y": 4294.75830078125,
                        "z": 372.7351379394531
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.23997868597507477,
                        "yaw": 179.6502685546875
                    }
                },
                "velocity": {
                    "x": -8.025252342224121,
                    "y": 0.04695708304643631,
                    "z": 0.03341909497976303
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.031961441040039,
                "transform": {
                    "location": {
                        "x": -25.76820182800293,
                        "y": 4294.4169921875,
                        "z": 372.4937438964844
                    },
                    "rotation": {
                        "roll": 8.645213529234752e-05,
                        "pitch": 0.22602461278438568,
                        "yaw": 179.6623992919922
                    }
                },
                "velocity": {
                    "x": -8.031753540039062,
                    "y": 0.04708222672343254,
                    "z": 0.03348921611905098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4710104167461395,
        "expert_target_speed": 8.98720477405673,
        "target_point": [
            50.85115977411707,
            -1.3196289788536486
        ],
        "target_point_next": [
            101.8454002393507,
            -2.084872690260404
        ]
    },
    "190": {
        "acceleration": [
            2.9736328125,
            0.26346608996391296,
            -0.0023943185806274414
        ],
        "angular_velocity": [
            0.0264863520860672,
            -0.517065167427063,
            -2.2911412715911865
        ],
        "forward_vector": [
            -0.999999463558197,
            0.0010484772501513362,
            -5.757808321504854e-05
        ],
        "right_vector": [
            -0.001048367121256888,
            -0.9999976754188538,
            -0.0018811790505424142
        ],
        "location": [
            -61.631248474121094,
            4290.91162109375,
            372.6462707519531
        ],
        "rotation": [
            0.10778369009494781,
            -0.0032989811152219772,
            179.93992614746094
        ],
        "velocity": [
            -7.665173053741455,
            0.04270213469862938,
            0.032372359186410904
        ],
        "speed": 7.665291998098437,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0635986328125,
                "transform": {
                    "location": {
                        "x": -59.37226486206055,
                        "y": 4301.3173828125,
                        "z": 372.6443176269531
                    },
                    "rotation": {
                        "roll": 0.0006002946174703538,
                        "pitch": -0.2373080849647522,
                        "yaw": -0.3237914741039276
                    }
                },
                "velocity": {
                    "x": 8.063400268554688,
                    "y": -0.04558468610048294,
                    "z": -0.03356238827109337
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075390815734863,
                "transform": {
                    "location": {
                        "x": -59.350154876708984,
                        "y": 4298.0673828125,
                        "z": 372.6295166015625
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.23736955225467682,
                        "yaw": -0.330474853515625
                    }
                },
                "velocity": {
                    "x": 8.075177192687988,
                    "y": -0.04817008227109909,
                    "z": -0.0336359404027462
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052294731140137,
                "transform": {
                    "location": {
                        "x": -14.8189058303833,
                        "y": 4301.056640625,
                        "z": 372.4533386230469
                    },
                    "rotation": {
                        "roll": 2.1373409254010767e-05,
                        "pitch": -0.24749872088432312,
                        "yaw": -0.330291748046875
                    }
                },
                "velocity": {
                    "x": 8.052072525024414,
                    "y": -0.04907245188951492,
                    "z": -0.034255996346473694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048640251159668,
                "transform": {
                    "location": {
                        "x": -14.844765663146973,
                        "y": 4297.8076171875,
                        "z": 372.4533996582031
                    },
                    "rotation": {
                        "roll": -0.00021362313418649137,
                        "pitch": -0.24783340096473694,
                        "yaw": -0.3551635146141052
                    }
                },
                "velocity": {
                    "x": 8.048413276672363,
                    "y": -0.049960069358348846,
                    "z": -0.03403382748365402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.876983165740967,
                "transform": {
                    "location": {
                        "x": -103.2426528930664,
                        "y": 4298.310546875,
                        "z": 372.8094177246094
                    },
                    "rotation": {
                        "roll": 0.0018451143987476826,
                        "pitch": -0.2393161505460739,
                        "yaw": -0.1397399604320526
                    }
                },
                "velocity": {
                    "x": 7.876875877380371,
                    "y": -0.02559654414653778,
                    "z": -0.03223276138305664
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02798843383789,
                "transform": {
                    "location": {
                        "x": -103.5335922241211,
                        "y": 4301.56201171875,
                        "z": 372.8555908203125
                    },
                    "rotation": {
                        "roll": 0.003699318505823612,
                        "pitch": -0.22091563045978546,
                        "yaw": -0.1487121433019638
                    }
                },
                "velocity": {
                    "x": 8.027874946594238,
                    "y": -0.027230452746152878,
                    "z": -0.03283867612481117
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.55638313293457,
                "transform": {
                    "location": {
                        "x": -46.6135139465332,
                        "y": 4294.54296875,
                        "z": 372.5769348144531
                    },
                    "rotation": {
                        "roll": 0.0004192326159682125,
                        "pitch": 0.20041823387145996,
                        "yaw": 179.66738891601562
                    }
                },
                "velocity": {
                    "x": -7.556190013885498,
                    "y": 0.043939899653196335,
                    "z": 0.03142179548740387
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033356666564941,
                "transform": {
                    "location": {
                        "x": -64.5687484741211,
                        "y": 4294.64599609375,
                        "z": 372.6576232910156
                    },
                    "rotation": {
                        "roll": 0.0007321073790080845,
                        "pitch": 0.24298396706581116,
                        "yaw": 179.64407348632812
                    }
                },
                "velocity": {
                    "x": -8.03313159942627,
                    "y": 0.049889955669641495,
                    "z": 0.033475540578365326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024815559387207,
                "transform": {
                    "location": {
                        "x": -85.40061950683594,
                        "y": 4294.77001953125,
                        "z": 372.74334716796875
                    },
                    "rotation": {
                        "roll": 0.0009633412701077759,
                        "pitch": 0.24056607484817505,
                        "yaw": 179.67323303222656
                    }
                },
                "velocity": {
                    "x": -8.024601936340332,
                    "y": 0.047751057893037796,
                    "z": 0.033815544098615646
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.29176139831543,
                "transform": {
                    "location": {
                        "x": -27.801326751708984,
                        "y": 4294.42919921875,
                        "z": 372.50201416015625
                    },
                    "rotation": {
                        "roll": 0.0006497319554910064,
                        "pitch": 0.2448759227991104,
                        "yaw": 179.6617431640625
                    }
                },
                "velocity": {
                    "x": -8.29155158996582,
                    "y": 0.04880787804722786,
                    "z": 0.033109139651060104
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4808206856250763,
        "expert_target_speed": 8.354423481508215,
        "target_point": [
            48.845919324827356,
            -0.8067163656837477
        ],
        "target_point_next": [
            99.84529916990947,
            -1.0545348092074425
        ]
    },
    "195": {
        "acceleration": [
            2.1286678314208984,
            0.009094327688217163,
            -0.01046065241098404
        ],
        "angular_velocity": [
            -0.18236707150936127,
            0.1656060814857483,
            -0.48137858510017395
        ],
        "forward_vector": [
            -0.9999842047691345,
            0.005571485497057438,
            -0.0007606743602082133
        ],
        "right_vector": [
            -0.005570787005126476,
            -0.999984085559845,
            -0.0009174846927635372
        ],
        "location": [
            -63.451717376708984,
            4290.92041015625,
            372.6539611816406
        ],
        "rotation": [
            0.05256802588701248,
            -0.04358343407511711,
            179.68077087402344
        ],
        "velocity": [
            -7.012416362762451,
            0.04661889001727104,
            0.028948955237865448
        ],
        "speed": 7.012571323390944,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -142.01312255859375,
                        "y": 4301.7060546875,
                        "z": 373.2635803222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2175278514623642,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -142.03233337402344,
                        "y": 4298.4560546875,
                        "z": 373.2635803222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2175278514623642,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004440307617188,
                "transform": {
                    "location": {
                        "x": -57.36421585083008,
                        "y": 4301.3056640625,
                        "z": 372.6360168457031
                    },
                    "rotation": {
                        "roll": 0.0002010468888329342,
                        "pitch": -0.23598985373973846,
                        "yaw": -0.3250121474266052
                    }
                },
                "velocity": {
                    "x": 8.00423526763916,
                    "y": -0.0470435693860054,
                    "z": -0.032812342047691345
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022700309753418,
                "transform": {
                    "location": {
                        "x": -57.33773422241211,
                        "y": 4298.0556640625,
                        "z": 372.6212158203125
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.3376159965991974
                    }
                },
                "velocity": {
                    "x": 8.022488594055176,
                    "y": -0.047238755971193314,
                    "z": -0.03422534838318825
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051414489746094,
                "transform": {
                    "location": {
                        "x": -12.8052339553833,
                        "y": 4301.04541015625,
                        "z": 372.44464111328125
                    },
                    "rotation": {
                        "roll": 7.993265899131075e-05,
                        "pitch": -0.25027862191200256,
                        "yaw": -0.3674316108226776
                    }
                },
                "velocity": {
                    "x": 8.051188468933105,
                    "y": -0.05006228759884834,
                    "z": -0.033761125057935715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058140754699707,
                "transform": {
                    "location": {
                        "x": -12.831405639648438,
                        "y": 4297.7958984375,
                        "z": 372.4446716308594
                    },
                    "rotation": {
                        "roll": -0.0007629393949173391,
                        "pitch": -0.250394731760025,
                        "yaw": -0.3551940321922302
                    }
                },
                "velocity": {
                    "x": 8.057913780212402,
                    "y": -0.050037071108818054,
                    "z": -0.034052930772304535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.08369255065918,
                "transform": {
                    "location": {
                        "x": -101.25788879394531,
                        "y": 4298.30322265625,
                        "z": 372.80126953125
                    },
                    "rotation": {
                        "roll": 0.0011587253538891673,
                        "pitch": -0.22338815033435822,
                        "yaw": -0.2191161960363388
                    }
                },
                "velocity": {
                    "x": 8.08356761932373,
                    "y": -0.03045389987528324,
                    "z": -0.0330730676651001
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.86334753036499,
                "transform": {
                    "location": {
                        "x": -101.57202911376953,
                        "y": 4301.55517578125,
                        "z": 372.8478698730469
                    },
                    "rotation": {
                        "roll": 0.001303467433899641,
                        "pitch": -0.24679520726203918,
                        "yaw": -0.185211181640625
                    }
                },
                "velocity": {
                    "x": 7.863227367401123,
                    "y": -0.028737787157297134,
                    "z": -0.032699212431907654
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.177502632141113,
                "transform": {
                    "location": {
                        "x": -48.55890655517578,
                        "y": 4294.5546875,
                        "z": 372.5846252441406
                    },
                    "rotation": {
                        "roll": 0.001912019681185484,
                        "pitch": 0.2575732469558716,
                        "yaw": 179.67071533203125
                    }
                },
                "velocity": {
                    "x": -8.177290916442871,
                    "y": 0.04858393222093582,
                    "z": 0.03316894546151161
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018795013427734,
                "transform": {
                    "location": {
                        "x": -66.57445526123047,
                        "y": 4294.6572265625,
                        "z": 372.6658630371094
                    },
                    "rotation": {
                        "roll": 0.00021928497881162912,
                        "pitch": 0.24244438111782074,
                        "yaw": 179.6442108154297
                    }
                },
                "velocity": {
                    "x": -8.018571853637695,
                    "y": 0.04980965331196785,
                    "z": 0.0331004336476326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026440620422363,
                "transform": {
                    "location": {
                        "x": -87.40647888183594,
                        "y": 4294.78173828125,
                        "z": 372.7515563964844
                    },
                    "rotation": {
                        "roll": 0.0011780235217884183,
                        "pitch": 0.24145400524139404,
                        "yaw": 179.63722229003906
                    }
                },
                "velocity": {
                    "x": -8.02622127532959,
                    "y": 0.04885551705956459,
                    "z": 0.03355797752737999
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.78074836730957,
                "transform": {
                    "location": {
                        "x": -29.943904876708984,
                        "y": 4294.44189453125,
                        "z": 372.51080322265625
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": 0.2544245421886444,
                        "yaw": 179.65736389160156
                    }
                },
                "velocity": {
                    "x": -8.780508995056152,
                    "y": 0.053298428654670715,
                    "z": 0.037020567804574966
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5162060260772705,
        "expert_target_speed": 7.8326777670950625,
        "target_point": [
            47.02857900465632,
            -0.5871187262604212
        ],
        "target_point_next": [
            98.02855807373246,
            -0.6042510849495438
        ]
    },
    "200": {
        "acceleration": [
            -0.6994533538818359,
            -0.157974511384964,
            0.021642297506332397
        ],
        "angular_velocity": [
            -0.23641765117645264,
            0.7679134011268616,
            0.5554215908050537
        ],
        "forward_vector": [
            -0.9999840259552002,
            0.005393621977418661,
            0.0016810885863378644
        ],
        "right_vector": [
            -0.005393831990659237,
            -0.9999854564666748,
            -0.00012024895841022953
        ],
        "location": [
            -65.18632507324219,
            4290.93017578125,
            372.6606140136719
        ],
        "rotation": [
            0.006889767944812775,
            0.09631932526826859,
            179.6909637451172
        ],
        "velocity": [
            -6.937999725341797,
            0.02734769508242607,
            0.029885634779930115
        ],
        "speed": 6.938053623695133,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -139.9636688232422,
                        "y": 4301.69384765625,
                        "z": 372.97119140625
                    },
                    "rotation": {
                        "roll": 5.2110597087429156e-11,
                        "pitch": -0.22222702205181122,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -139.98289489746094,
                        "y": 4298.44384765625,
                        "z": 372.97119140625
                    },
                    "rotation": {
                        "roll": 5.2110597087429156e-11,
                        "pitch": -0.22222702205181122,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064172744750977,
                "transform": {
                    "location": {
                        "x": -55.35562515258789,
                        "y": 4301.2939453125,
                        "z": 372.627685546875
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.23739686608314514,
                        "yaw": -0.3285522162914276
                    }
                },
                "velocity": {
                    "x": 8.063960075378418,
                    "y": -0.047999415546655655,
                    "z": -0.033610571175813675
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076297760009766,
                "transform": {
                    "location": {
                        "x": -55.324764251708984,
                        "y": 4298.04443359375,
                        "z": 372.6128845214844
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.2366933673620224,
                        "yaw": -0.3403625190258026
                    }
                },
                "velocity": {
                    "x": 8.076086044311523,
                    "y": -0.04811294749379158,
                    "z": -0.03327241167426109
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052750587463379,
                "transform": {
                    "location": {
                        "x": -10.7915620803833,
                        "y": 4301.033203125,
                        "z": 372.4359436035156
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.249178946018219,
                        "yaw": -0.33966055512428284
                    }
                },
                "velocity": {
                    "x": 8.052518844604492,
                    "y": -0.05044332519173622,
                    "z": -0.03437500819563866
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048023223876953,
                "transform": {
                    "location": {
                        "x": -10.81851577758789,
                        "y": 4297.78369140625,
                        "z": 372.43597412109375
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.24924041330814362,
                        "yaw": -0.3581237494945526
                    }
                },
                "velocity": {
                    "x": 8.0477933883667,
                    "y": -0.050402648746967316,
                    "z": -0.034102629870176315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.086935997009277,
                "transform": {
                    "location": {
                        "x": -99.22593688964844,
                        "y": 4298.294921875,
                        "z": 372.7930908203125
                    },
                    "rotation": {
                        "roll": 0.0010902192443609238,
                        "pitch": -0.23017053306102753,
                        "yaw": -0.2207031100988388
                    }
                },
                "velocity": {
                    "x": 8.086782455444336,
                    "y": -0.0370958149433136,
                    "z": -0.03321390226483345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.188916206359863,
                "transform": {
                    "location": {
                        "x": -99.55179595947266,
                        "y": 4301.54736328125,
                        "z": 372.83935546875
                    },
                    "rotation": {
                        "roll": 0.0029270073864609003,
                        "pitch": -0.20929063856601715,
                        "yaw": -0.239959716796875
                    }
                },
                "velocity": {
                    "x": 8.188755989074707,
                    "y": -0.039035867899656296,
                    "z": -0.033199649304151535
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.646015167236328,
                "transform": {
                    "location": {
                        "x": -50.708984375,
                        "y": 4294.56689453125,
                        "z": 372.5933837890625
                    },
                    "rotation": {
                        "roll": 0.0006501088500954211,
                        "pitch": 0.2733919620513916,
                        "yaw": 179.66879272460938
                    }
                },
                "velocity": {
                    "x": -8.645791053771973,
                    "y": 0.049954503774642944,
                    "z": 0.03705625608563423
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034422874450684,
                "transform": {
                    "location": {
                        "x": -68.5804672241211,
                        "y": 4294.66943359375,
                        "z": 372.67413330078125
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.24298396706581116,
                        "yaw": 179.644287109375
                    }
                },
                "velocity": {
                    "x": -8.034200668334961,
                    "y": 0.049862682819366455,
                    "z": 0.03300666809082031
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02518367767334,
                "transform": {
                    "location": {
                        "x": -89.41233825683594,
                        "y": 4294.79345703125,
                        "z": 372.759765625
                    },
                    "rotation": {
                        "roll": 0.00026540394173935056,
                        "pitch": 0.24083928763866425,
                        "yaw": 179.6661376953125
                    }
                },
                "velocity": {
                    "x": -8.024971008300781,
                    "y": 0.04765193536877632,
                    "z": 0.03376885503530502
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.912485122680664,
                "transform": {
                    "location": {
                        "x": -32.174217224121094,
                        "y": 4294.455078125,
                        "z": 372.5201721191406
                    },
                    "rotation": {
                        "roll": 0.00014559522969648242,
                        "pitch": 0.24738261103630066,
                        "yaw": 179.64773559570312
                    }
                },
                "velocity": {
                    "x": -8.912242889404297,
                    "y": 0.05449816584587097,
                    "z": 0.03684224933385849
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5186997652053833,
        "expert_target_speed": 7.771175186546948,
        "target_point": [
            45.29383869820763,
            -0.5950732986669465
        ],
        "target_point_next": [
            96.2938139134444,
            -0.6212765265749778
        ]
    },
    "205": {
        "acceleration": [
            -0.8805465698242188,
            -0.0842607170343399,
            -0.019120797514915466
        ],
        "angular_velocity": [
            -0.013197390362620354,
            0.44433221220970154,
            0.7371353507041931
        ],
        "forward_vector": [
            -0.9999876022338867,
            0.002307303249835968,
            0.00440572202205658
        ],
        "right_vector": [
            -0.002305793110281229,
            -0.9999972581863403,
            0.00034780538408085704
        ],
        "location": [
            -66.94718933105469,
            4290.93408203125,
            372.66729736328125
        ],
        "rotation": [
            -0.0199279747903347,
            0.25243011116981506,
            179.8677978515625
        ],
        "velocity": [
            -7.157832622528076,
            0.0036270662676542997,
            0.028790663927793503
        ],
        "speed": 7.157833541494023,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -137.88046264648438,
                        "y": 4301.68115234375,
                        "z": 372.9601135253906
                    },
                    "rotation": {
                        "roll": 5.2110597087429156e-11,
                        "pitch": -0.22222702205181122,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -137.89968872070312,
                        "y": 4298.43115234375,
                        "z": 372.9601135253906
                    },
                    "rotation": {
                        "roll": 5.2110597087429156e-11,
                        "pitch": -0.22222702205181122,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004842758178711,
                "transform": {
                    "location": {
                        "x": -53.34718704223633,
                        "y": 4301.2822265625,
                        "z": 372.6193542480469
                    },
                    "rotation": {
                        "roll": 0.00012693085591308773,
                        "pitch": -0.23678214848041534,
                        "yaw": -0.3324279189109802
                    }
                },
                "velocity": {
                    "x": 8.004631042480469,
                    "y": -0.048081833869218826,
                    "z": -0.03276463970541954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023299217224121,
                "transform": {
                    "location": {
                        "x": -53.31234359741211,
                        "y": 4298.0322265625,
                        "z": 372.60455322265625
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.34332275390625
                    }
                },
                "velocity": {
                    "x": 8.023075103759766,
                    "y": -0.04948030784726143,
                    "z": -0.033870432525873184
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051243782043457,
                "transform": {
                    "location": {
                        "x": -8.777968406677246,
                        "y": 4301.02099609375,
                        "z": 372.4271545410156
                    },
                    "rotation": {
                        "roll": 0.0013833955163136125,
                        "pitch": -0.25243693590164185,
                        "yaw": -0.37127685546875
                    }
                },
                "velocity": {
                    "x": 8.051012992858887,
                    "y": -0.049641288816928864,
                    "z": -0.03539668396115303
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060232162475586,
                "transform": {
                    "location": {
                        "x": -8.804765701293945,
                        "y": 4297.77197265625,
                        "z": 372.42718505859375
                    },
                    "rotation": {
                        "roll": 0.00025703557184897363,
                        "pitch": -0.25249841809272766,
                        "yaw": -0.3605956733226776
                    }
                },
                "velocity": {
                    "x": 8.059988021850586,
                    "y": -0.051456570625305176,
                    "z": -0.035923879593610764
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.005990982055664,
                "transform": {
                    "location": {
                        "x": -97.22039031982422,
                        "y": 4298.28564453125,
                        "z": 372.7850341796875
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": -0.2356005311012268,
                        "yaw": -0.2845763862133026
                    }
                },
                "velocity": {
                    "x": 8.005825996398926,
                    "y": -0.03891139477491379,
                    "z": -0.03375625982880592
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.959047317504883,
                "transform": {
                    "location": {
                        "x": -97.53250122070312,
                        "y": 4301.5380859375,
                        "z": 372.83154296875
                    },
                    "rotation": {
                        "roll": 0.0018963876646012068,
                        "pitch": -0.24462321400642395,
                        "yaw": -0.2594299018383026
                    }
                },
                "velocity": {
                    "x": 7.958878040313721,
                    "y": -0.04012549668550491,
                    "z": -0.032891083508729935
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.825629234313965,
                "transform": {
                    "location": {
                        "x": -52.76851272583008,
                        "y": 4294.578125,
                        "z": 372.6025390625
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.200882688164711,
                        "yaw": 179.66851806640625
                    }
                },
                "velocity": {
                    "x": -7.825427055358887,
                    "y": 0.04528971016407013,
                    "z": 0.0333402156829834
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018229484558105,
                "transform": {
                    "location": {
                        "x": -70.58617401123047,
                        "y": 4294.68115234375,
                        "z": 372.6824035644531
                    },
                    "rotation": {
                        "roll": 0.0009249472641386092,
                        "pitch": 0.24228045344352722,
                        "yaw": 179.64231872558594
                    }
                },
                "velocity": {
                    "x": -8.017995834350586,
                    "y": 0.05112587660551071,
                    "z": 0.03356544300913811
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026363372802734,
                "transform": {
                    "location": {
                        "x": -91.41819763183594,
                        "y": 4294.80517578125,
                        "z": 372.7679748535156
                    },
                    "rotation": {
                        "roll": 0.00016325995966326445,
                        "pitch": 0.24028603732585907,
                        "yaw": 179.63267517089844
                    }
                },
                "velocity": {
                    "x": -8.026144981384277,
                    "y": 0.049509432166814804,
                    "z": 0.03251861408352852
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.986692428588867,
                "transform": {
                    "location": {
                        "x": -34.3224983215332,
                        "y": 4294.46875,
                        "z": 372.5294494628906
                    },
                    "rotation": {
                        "roll": 5.834400508319959e-05,
                        "pitch": 0.21986377239227295,
                        "yaw": 179.64752197265625
                    }
                },
                "velocity": {
                    "x": -7.98646879196167,
                    "y": 0.04887407273054123,
                    "z": 0.03439955785870552
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5026150345802307,
        "expert_target_speed": 7.950261002748554,
        "target_point": [
            43.53091762924446,
            -0.7350286472867169
        ],
        "target_point_next": [
            94.53056903107174,
            -0.9186463371091407
        ]
    },
    "210": {
        "acceleration": [
            -1.6882991790771484,
            -0.0812019407749176,
            0.0010828301310539246
        ],
        "angular_velocity": [
            -0.025212852284312248,
            0.3037188649177551,
            0.7031723260879517
        ],
        "forward_vector": [
            -0.9999814629554749,
            -0.0010072127915918827,
            0.006001436151564121
        ],
        "right_vector": [
            0.0010100917425006628,
            -0.9999993443489075,
            0.00047669713967479765
        ],
        "location": [
            -68.78226470947266,
            4290.9326171875,
            372.6745300292969
        ],
        "rotation": [
            -0.0273132286965847,
            0.3438590168952942,
            -179.94229125976562
        ],
        "velocity": [
            -7.508461952209473,
            -0.01954851858317852,
            0.029816551133990288
        ],
        "speed": 7.508487399760093,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.633281707763672,
                "transform": {
                    "location": {
                        "x": -135.91796875,
                        "y": 4301.669921875,
                        "z": 372.9486389160156
                    },
                    "rotation": {
                        "roll": -0.0030517573468387127,
                        "pitch": -0.2590280771255493,
                        "yaw": -0.3099364936351776
                    }
                },
                "velocity": {
                    "x": 6.633061408996582,
                    "y": -0.011824160814285278,
                    "z": -0.05268126353621483
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.891038417816162,
                "transform": {
                    "location": {
                        "x": -136.01617431640625,
                        "y": 4298.42529296875,
                        "z": 372.9508056640625
                    },
                    "rotation": {
                        "roll": -0.069091796875,
                        "pitch": -0.6787704825401306,
                        "yaw": -0.12002561241388321
                    }
                },
                "velocity": {
                    "x": 6.890809059143066,
                    "y": 0.03491084277629852,
                    "z": -0.04406440258026123
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.065143585205078,
                "transform": {
                    "location": {
                        "x": -51.33835983276367,
                        "y": 4301.2705078125,
                        "z": 372.6110534667969
                    },
                    "rotation": {
                        "roll": -9.155279258266091e-05,
                        "pitch": -0.23818917572498322,
                        "yaw": -0.3343506157398224
                    }
                },
                "velocity": {
                    "x": 8.064937591552734,
                    "y": -0.047068990767002106,
                    "z": -0.03334113582968712
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076233863830566,
                "transform": {
                    "location": {
                        "x": -51.299373626708984,
                        "y": 4298.02099609375,
                        "z": 372.59619140625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.23770423233509064,
                        "yaw": -0.3487548828125
                    }
                },
                "velocity": {
                    "x": 8.076014518737793,
                    "y": -0.04922555014491081,
                    "z": -0.03346019610762596
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05117416381836,
                "transform": {
                    "location": {
                        "x": -6.764609336853027,
                        "y": 4301.009765625,
                        "z": 372.41827392578125
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.25400105118751526,
                        "yaw": -0.33062744140625
                    }
                },
                "velocity": {
                    "x": 8.050947189331055,
                    "y": -0.048169057816267014,
                    "z": -0.036694735288619995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047039985656738,
                "transform": {
                    "location": {
                        "x": -6.791327953338623,
                        "y": 4297.7587890625,
                        "z": 372.41827392578125
                    },
                    "rotation": {
                        "roll": 0.00020336505258455873,
                        "pitch": -0.2543903887271881,
                        "yaw": -0.3591918647289276
                    }
                },
                "velocity": {
                    "x": 8.04680347442627,
                    "y": -0.05045898258686066,
                    "z": -0.03548148646950722
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076229095458984,
                "transform": {
                    "location": {
                        "x": -95.20843505859375,
                        "y": 4298.275390625,
                        "z": 372.7768249511719
                    },
                    "rotation": {
                        "roll": 0.0006506998906843364,
                        "pitch": -0.23028664290905,
                        "yaw": -0.2641295790672302
                    }
                },
                "velocity": {
                    "x": 8.076068878173828,
                    "y": -0.0393950417637825,
                    "z": -0.03216320276260376
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02208423614502,
                "transform": {
                    "location": {
                        "x": -95.54265594482422,
                        "y": 4301.52880859375,
                        "z": 372.82330322265625
                    },
                    "rotation": {
                        "roll": 0.0004309085488785058,
                        "pitch": -0.23126336932182312,
                        "yaw": -0.3006896674633026
                    }
                },
                "velocity": {
                    "x": 8.021915435791016,
                    "y": -0.040357768535614014,
                    "z": -0.03287343308329582
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.499550819396973,
                "transform": {
                    "location": {
                        "x": -54.65742111206055,
                        "y": 4294.59033203125,
                        "z": 372.6102600097656
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.21284916996955872,
                        "yaw": 179.6686553955078
                    }
                },
                "velocity": {
                    "x": -7.4993577003479,
                    "y": 0.04340829700231552,
                    "z": 0.031815994530916214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034981727600098,
                "transform": {
                    "location": {
                        "x": -72.5921859741211,
                        "y": 4294.69287109375,
                        "z": 372.6907043457031
                    },
                    "rotation": {
                        "roll": -0.0010681147687137127,
                        "pitch": 0.24326400458812714,
                        "yaw": 179.6426239013672
                    }
                },
                "velocity": {
                    "x": -8.03476333618164,
                    "y": 0.04899580404162407,
                    "z": 0.03322364762425423
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02574348449707,
                "transform": {
                    "location": {
                        "x": -93.42405700683594,
                        "y": 4294.81689453125,
                        "z": 372.776123046875
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": 0.23854434490203857,
                        "yaw": 179.65927124023438
                    }
                },
                "velocity": {
                    "x": -8.02552318572998,
                    "y": 0.0496525913476944,
                    "z": 0.03263825178146362
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.437127590179443,
                "transform": {
                    "location": {
                        "x": -36.05320358276367,
                        "y": 4294.4794921875,
                        "z": 372.5369567871094
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.19026857614517212,
                        "yaw": 179.65187072753906
                    }
                },
                "velocity": {
                    "x": -6.436949253082275,
                    "y": 0.03913363069295883,
                    "z": 0.027722472324967384
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5157119035720825,
        "expert_target_speed": 8.230061262582787,
        "target_point": [
            41.693166768645355,
            -0.8789033559418609
        ],
        "target_point_next": [
            92.69192960209965,
            -1.2315335035474801
        ]
    },
    "215": {
        "acceleration": [
            -1.080923080444336,
            0.020683202892541885,
            0.0262417271733284
        ],
        "angular_velocity": [
            0.023706231266260147,
            0.033077090978622437,
            -0.10832289606332779
        ],
        "forward_vector": [
            -0.9999757409095764,
            -0.002049788599833846,
            0.006657788995653391
        ],
        "right_vector": [
            0.0020504191052168608,
            -0.9999979138374329,
            8.78823411767371e-05
        ],
        "location": [
            -70.70375061035156,
            4290.92822265625,
            372.6822204589844
        ],
        "rotation": [
            -0.005035398993641138,
            0.3814660310745239,
            -179.88255310058594
        ],
        "velocity": [
            -7.8447184562683105,
            -0.014192339964210987,
            0.031891632825136185
        ],
        "speed": 7.84473129435485,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.852630615234375,
                "transform": {
                    "location": {
                        "x": -134.2313995361328,
                        "y": 4301.6708984375,
                        "z": 372.9379577636719
                    },
                    "rotation": {
                        "roll": -0.003936767112463713,
                        "pitch": -0.23180978000164032,
                        "yaw": 0.03845597058534622
                    }
                },
                "velocity": {
                    "x": 6.852516174316406,
                    "y": 0.022690648213028908,
                    "z": -0.03246552497148514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.670166492462158,
                "transform": {
                    "location": {
                        "x": -134.31961059570312,
                        "y": 4298.43115234375,
                        "z": 372.9405822753906
                    },
                    "rotation": {
                        "roll": -0.02597046084702015,
                        "pitch": -0.4311215281486511,
                        "yaw": 0.15961907804012299
                    }
                },
                "velocity": {
                    "x": 6.670053005218506,
                    "y": 0.02210991643369198,
                    "z": -0.03205427527427673
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004783630371094,
                "transform": {
                    "location": {
                        "x": -49.32999801635742,
                        "y": 4301.2587890625,
                        "z": 372.60272216796875
                    },
                    "rotation": {
                        "roll": 0.0012149183312430978,
                        "pitch": -0.23800475895404816,
                        "yaw": -0.334442138671875
                    }
                },
                "velocity": {
                    "x": 8.0045804977417,
                    "y": -0.046662379056215286,
                    "z": -0.03262897953391075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021929740905762,
                "transform": {
                    "location": {
                        "x": -49.28695297241211,
                        "y": 4298.00927734375,
                        "z": 372.587890625
                    },
                    "rotation": {
                        "roll": -0.0016174317570403218,
                        "pitch": -0.23806622624397278,
                        "yaw": -0.34918212890625
                    }
                },
                "velocity": {
                    "x": 8.021713256835938,
                    "y": -0.048902276903390884,
                    "z": -0.03305738791823387
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053425788879395,
                "transform": {
                    "location": {
                        "x": -4.750937461853027,
                        "y": 4300.998046875,
                        "z": 372.4093322753906
                    },
                    "rotation": {
                        "roll": 0.0003237402706872672,
                        "pitch": -0.2543903887271881,
                        "yaw": -0.368865966796875
                    }
                },
                "velocity": {
                    "x": 8.053194999694824,
                    "y": -0.04938514158129692,
                    "z": -0.035738490521907806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.058467864990234,
                "transform": {
                    "location": {
                        "x": -4.778203010559082,
                        "y": 4297.74755859375,
                        "z": 372.40936279296875
                    },
                    "rotation": {
                        "roll": -6.10352071817033e-05,
                        "pitch": -0.25482749938964844,
                        "yaw": -0.35870361328125
                    }
                },
                "velocity": {
                    "x": 8.058222770690918,
                    "y": -0.05054085701704025,
                    "z": -0.037472598254680634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.045531272888184,
                "transform": {
                    "location": {
                        "x": -93.19242095947266,
                        "y": 4298.26513671875,
                        "z": 372.76873779296875
                    },
                    "rotation": {
                        "roll": 0.00010739741992438212,
                        "pitch": -0.2331826388835907,
                        "yaw": -0.3213500678539276
                    }
                },
                "velocity": {
                    "x": 8.045342445373535,
                    "y": -0.04415692389011383,
                    "z": -0.033080413937568665
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.073009490966797,
                "transform": {
                    "location": {
                        "x": -93.5239028930664,
                        "y": 4301.517578125,
                        "z": 372.8151550292969
                    },
                    "rotation": {
                        "roll": 0.0009358910610899329,
                        "pitch": -0.22784826159477234,
                        "yaw": -0.2907714545726776
                    }
                },
                "velocity": {
                    "x": 8.072832107543945,
                    "y": -0.0429876372218132,
                    "z": -0.03188368305563927
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.224312782287598,
                "transform": {
                    "location": {
                        "x": -56.61765670776367,
                        "y": 4294.6015625,
                        "z": 372.6180114746094
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": 0.26556456089019775,
                        "yaw": 179.66526794433594
                    }
                },
                "velocity": {
                    "x": -8.224103927612305,
                    "y": 0.04807549715042114,
                    "z": 0.03363469988107681
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017934799194336,
                "transform": {
                    "location": {
                        "x": -74.59796905517578,
                        "y": 4294.7060546875,
                        "z": 372.6989440917969
                    },
                    "rotation": {
                        "roll": 0.0013021501945331693,
                        "pitch": 0.24251268804073334,
                        "yaw": 179.63609313964844
                    }
                },
                "velocity": {
                    "x": -8.017705917358398,
                    "y": 0.051010243594646454,
                    "z": 0.03266644477844238
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025470733642578,
                "transform": {
                    "location": {
                        "x": -95.42991638183594,
                        "y": 4294.82861328125,
                        "z": 372.78424072265625
                    },
                    "rotation": {
                        "roll": -0.00024414050858467817,
                        "pitch": 0.2385033667087555,
                        "yaw": 179.6328887939453
                    }
                },
                "velocity": {
                    "x": -8.025250434875488,
                    "y": 0.04947008565068245,
                    "z": 0.03290427103638649
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.5865159034729,
                "transform": {
                    "location": {
                        "x": -37.65812301635742,
                        "y": 4294.48876953125,
                        "z": 372.54327392578125
                    },
                    "rotation": {
                        "roll": 0.0002361306396778673,
                        "pitch": 0.23534782230854034,
                        "yaw": 179.65370178222656
                    }
                },
                "velocity": {
                    "x": -6.586343765258789,
                    "y": 0.03987180069088936,
                    "z": 0.025997379794716835
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5180081725120544,
        "expert_target_speed": 8.490961472209593,
        "target_point": [
            39.7707366675064,
            -0.922837895460318
        ],
        "target_point_next": [
            90.76910403207751,
            -1.328651537624031
        ]
    },
    "220": {
        "acceleration": [
            -1.4095115661621094,
            0.10577812790870667,
            -0.006528645753860474
        ],
        "angular_velocity": [
            0.08536185324192047,
            -0.010183271020650864,
            -0.65830397605896
        ],
        "forward_vector": [
            -0.9999775290489197,
            -4.425743827596307e-05,
            0.0067045181058347225
        ],
        "right_vector": [
            4.19399184465874e-05,
            -0.9999999403953552,
            -0.000345805223332718
        ],
        "location": [
            -72.70780944824219,
            4290.92724609375,
            372.69049072265625
        ],
        "rotation": [
            0.019813625141978264,
            0.3841434717178345,
            -179.99746704101562
        ],
        "velocity": [
            -8.165714263916016,
            0.010443510487675667,
            0.03298412263393402
        ],
        "speed": 8.165720942258117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.61557149887085,
                "transform": {
                    "location": {
                        "x": -132.54913330078125,
                        "y": 4301.67626953125,
                        "z": 372.9308776855469
                    },
                    "rotation": {
                        "roll": -0.0021972653921693563,
                        "pitch": -0.22411897778511047,
                        "yaw": 0.2099873274564743
                    }
                },
                "velocity": {
                    "x": 6.615457057952881,
                    "y": 0.029756274074316025,
                    "z": -0.025162391364574432
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.53065824508667,
                "transform": {
                    "location": {
                        "x": -132.626953125,
                        "y": 4298.43701171875,
                        "z": 372.9327392578125
                    },
                    "rotation": {
                        "roll": -0.010406494140625,
                        "pitch": -0.3161899447441101,
                        "yaw": 0.17694464325904846
                    }
                },
                "velocity": {
                    "x": 6.530567646026611,
                    "y": 0.020496981218457222,
                    "z": -0.02759096957743168
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064468383789062,
                "transform": {
                    "location": {
                        "x": -47.32140350341797,
                        "y": 4301.2470703125,
                        "z": 372.5943298339844
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": -0.23837359249591827,
                        "yaw": -0.3346862494945526
                    }
                },
                "velocity": {
                    "x": 8.064261436462402,
                    "y": -0.04708319157361984,
                    "z": -0.033359695225954056
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076004981994629,
                "transform": {
                    "location": {
                        "x": -47.274139404296875,
                        "y": 4297.99755859375,
                        "z": 372.57952880859375
                    },
                    "rotation": {
                        "roll": -0.00225830078125,
                        "pitch": -0.2384009063243866,
                        "yaw": -0.34930419921875
                    }
                },
                "velocity": {
                    "x": 8.07578182220459,
                    "y": -0.049255646765232086,
                    "z": -0.03422502800822258
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051249504089355,
                "transform": {
                    "location": {
                        "x": -2.7373437881469727,
                        "y": 4300.986328125,
                        "z": 372.40032958984375
                    },
                    "rotation": {
                        "roll": 0.0003119705943390727,
                        "pitch": -0.2573273479938507,
                        "yaw": -0.332489013671875
                    }
                },
                "velocity": {
                    "x": 8.051013946533203,
                    "y": -0.04930705577135086,
                    "z": -0.036874912679195404
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.047737121582031,
                "transform": {
                    "location": {
                        "x": -2.7649998664855957,
                        "y": 4297.7353515625,
                        "z": 372.400390625
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.2569516897201538,
                        "yaw": -0.357879638671875
                    }
                },
                "velocity": {
                    "x": 8.047497749328613,
                    "y": -0.050246674567461014,
                    "z": -0.0364106260240078
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.046867370605469,
                "transform": {
                    "location": {
                        "x": -91.18226623535156,
                        "y": 4298.25341796875,
                        "z": 372.760498046875
                    },
                    "rotation": {
                        "roll": 1.3787329407932702e-05,
                        "pitch": -0.2343096286058426,
                        "yaw": -0.2951354384422302
                    }
                },
                "velocity": {
                    "x": 8.04667854309082,
                    "y": -0.04388183355331421,
                    "z": -0.03334029018878937
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99267053604126,
                "transform": {
                    "location": {
                        "x": -91.51828002929688,
                        "y": 4301.50634765625,
                        "z": 372.80706787109375
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": -0.23913173377513885,
                        "yaw": -0.3311156928539276
                    }
                },
                "velocity": {
                    "x": 7.9924774169921875,
                    "y": -0.04447842389345169,
                    "z": -0.03328029066324234
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.249757766723633,
                "transform": {
                    "location": {
                        "x": -58.73249816894531,
                        "y": 4294.61376953125,
                        "z": 372.6268310546875
                    },
                    "rotation": {
                        "roll": 0.0002919866528827697,
                        "pitch": 0.2491447925567627,
                        "yaw": 179.6649932861328
                    }
                },
                "velocity": {
                    "x": -8.249547958374023,
                    "y": 0.048172373324632645,
                    "z": 0.03398597612977028
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034507751464844,
                "transform": {
                    "location": {
                        "x": -76.6039047241211,
                        "y": 4294.71728515625,
                        "z": 372.70721435546875
                    },
                    "rotation": {
                        "roll": 0.0012493252288550138,
                        "pitch": 0.24329815804958344,
                        "yaw": 179.63893127441406
                    }
                },
                "velocity": {
                    "x": -8.034278869628906,
                    "y": 0.0505472831428051,
                    "z": 0.033493880182504654
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026302337646484,
                "transform": {
                    "location": {
                        "x": -97.43577575683594,
                        "y": 4294.84033203125,
                        "z": 372.7923278808594
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": 0.23845554888248444,
                        "yaw": 179.66024780273438
                    }
                },
                "velocity": {
                    "x": -8.026082992553711,
                    "y": 0.04960092902183533,
                    "z": 0.03272911161184311
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5829758644104,
                "transform": {
                    "location": {
                        "x": -39.426795959472656,
                        "y": 4294.49951171875,
                        "z": 372.55035400390625
                    },
                    "rotation": {
                        "roll": 0.0002484214201103896,
                        "pitch": 0.26719698309898376,
                        "yaw": 179.65333557128906
                    }
                },
                "velocity": {
                    "x": -7.5827789306640625,
                    "y": 0.04589121416211128,
                    "z": 0.029692573472857475
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5052596926689148,
        "expert_target_speed": 8.733009593474875,
        "target_point": [
            37.76844862389219,
            -0.8439604816371655
        ],
        "target_point_next": [
            88.76752731212198,
            -1.147492219127971
        ]
    },
    "225": {
        "acceleration": [
            -0.1062774658203125,
            0.19002053141593933,
            4.67151403427124e-05
        ],
        "angular_velocity": [
            0.15308988094329834,
            -0.24382103979587555,
            -0.4711068272590637
        ],
        "forward_vector": [
            -0.999980628490448,
            0.0012484871549531817,
            0.006102881394326687
        ],
        "right_vector": [
            -0.0012503905454650521,
            -0.9999991655349731,
            -0.00030810682801529765
        ],
        "location": [
            -74.7739028930664,
            4290.92919921875,
            372.69915771484375
        ],
        "rotation": [
            0.01765354909002781,
            0.34967151284217834,
            179.928466796875
        ],
        "velocity": [
            -8.327982902526855,
            0.018864234909415245,
            0.033090218901634216
        ],
        "speed": 8.328004267778587,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.916146278381348,
                "transform": {
                    "location": {
                        "x": -130.86390686035156,
                        "y": 4301.68359375,
                        "z": 372.92437744140625
                    },
                    "rotation": {
                        "roll": -0.002441405551508069,
                        "pitch": -0.22381845116615295,
                        "yaw": 0.27273842692375183
                    }
                },
                "velocity": {
                    "x": 6.916011333465576,
                    "y": 0.034402355551719666,
                    "z": -0.026121653616428375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.376660346984863,
                "transform": {
                    "location": {
                        "x": -131.20452880859375,
                        "y": 4298.44091796875,
                        "z": 372.9279479980469
                    },
                    "rotation": {
                        "roll": -0.006439208518713713,
                        "pitch": -0.5871571898460388,
                        "yaw": 0.1815299242734909
                    }
                },
                "velocity": {
                    "x": 5.376591205596924,
                    "y": 0.017245765775442123,
                    "z": -0.021045556291937828
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005708694458008,
                "transform": {
                    "location": {
                        "x": -45.313045501708984,
                        "y": 4301.2353515625,
                        "z": 372.58599853515625
                    },
                    "rotation": {
                        "roll": 0.0001845802617026493,
                        "pitch": -0.23837359249591827,
                        "yaw": -0.3340453803539276
                    }
                },
                "velocity": {
                    "x": 8.00550365447998,
                    "y": -0.04672917351126671,
                    "z": -0.03328752517700195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02348518371582,
                "transform": {
                    "location": {
                        "x": -45.26179504394531,
                        "y": 4297.9853515625,
                        "z": 372.5711669921875
                    },
                    "rotation": {
                        "roll": 7.224752334877849e-05,
                        "pitch": -0.238803893327713,
                        "yaw": -0.349212646484375
                    }
                },
                "velocity": {
                    "x": 8.023268699645996,
                    "y": -0.04889875650405884,
                    "z": -0.032880909740924835
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -0.6821093559265137,
                        "y": 4300.8876953125,
                        "z": 372.3922119140625
                    },
                    "rotation": {
                        "roll": -5.211072545696638e-11,
                        "pitch": -0.2567741274833679,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -0.7094531059265137,
                        "y": 4297.63818359375,
                        "z": 372.3922119140625
                    },
                    "rotation": {
                        "roll": -5.211072545696638e-11,
                        "pitch": -0.2567741274833679,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.057458877563477,
                "transform": {
                    "location": {
                        "x": -89.16874694824219,
                        "y": 4298.24169921875,
                        "z": 372.7522888183594
                    },
                    "rotation": {
                        "roll": -3.051766179851256e-05,
                        "pitch": -0.2349243462085724,
                        "yaw": -0.3313598334789276
                    }
                },
                "velocity": {
                    "x": 8.05726146697998,
                    "y": -0.0458134263753891,
                    "z": -0.03292454034090042
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044537544250488,
                "transform": {
                    "location": {
                        "x": -89.5145263671875,
                        "y": 4301.494140625,
                        "z": 372.7988586425781
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": -0.23291626572608948,
                        "yaw": -0.3058166205883026
                    }
                },
                "velocity": {
                    "x": 8.044342041015625,
                    "y": -0.04471008852124214,
                    "z": -0.03371115028858185
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.557126522064209,
                "transform": {
                    "location": {
                        "x": -60.690311431884766,
                        "y": 4294.625,
                        "z": 372.6352233886719
                    },
                    "rotation": {
                        "roll": 3.717679646797478e-05,
                        "pitch": 0.2018047571182251,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -7.556923866271973,
                    "y": 0.04477815702557564,
                    "z": 0.03256331384181976
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018588066101074,
                "transform": {
                    "location": {
                        "x": -78.60968780517578,
                        "y": 4294.7294921875,
                        "z": 372.7154846191406
                    },
                    "rotation": {
                        "roll": 0.0009328092564828694,
                        "pitch": 0.243038609623909,
                        "yaw": 179.6390380859375
                    }
                },
                "velocity": {
                    "x": -8.018359184265137,
                    "y": 0.050558872520923615,
                    "z": 0.03340056166052818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024985313415527,
                "transform": {
                    "location": {
                        "x": -99.44163513183594,
                        "y": 4294.85205078125,
                        "z": 372.8004455566406
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": 0.23815502226352692,
                        "yaw": 179.6339111328125
                    }
                },
                "velocity": {
                    "x": -8.024765014648438,
                    "y": 0.049496959894895554,
                    "z": 0.03296978771686554
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.737798690795898,
                "transform": {
                    "location": {
                        "x": -41.414451599121094,
                        "y": 4294.51171875,
                        "z": 372.5584411621094
                    },
                    "rotation": {
                        "roll": 0.00014180823927745223,
                        "pitch": 0.27934107184410095,
                        "yaw": 179.65066528320312
                    }
                },
                "velocity": {
                    "x": -8.737558364868164,
                    "y": 0.05308059975504875,
                    "z": 0.03721582144498825
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.48816266655921936,
        "expert_target_speed": 8.852387531529176,
        "target_point": [
            35.70341378565449,
            -0.795762386417356
        ],
        "target_point_next": [
            86.70284223897423,
            -1.0333670973101983
        ]
    },
    "230": {
        "acceleration": [
            2.177886962890625,
            -0.04177875816822052,
            -0.008036643266677856
        ],
        "angular_velocity": [
            -0.12213733047246933,
            -0.8393206596374512,
            -0.39731988310813904
        ],
        "forward_vector": [
            -0.9999815225601196,
            0.004665711894631386,
            0.0038981337565928698
        ],
        "right_vector": [
            -0.0046677361242473125,
            -0.9999889731407166,
            -0.0005103439325466752
        ],
        "location": [
            -76.83984375,
            4290.9384765625,
            372.7081604003906
        ],
        "rotation": [
            0.029240772128105164,
            0.22334717214107513,
            179.732666015625
        ],
        "velocity": [
            -8.072097778320312,
            0.04184936359524727,
            0.0332442931830883
        ],
        "speed": 8.072206260496387,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.908858776092529,
                "transform": {
                    "location": {
                        "x": -129.0281982421875,
                        "y": 4301.689453125,
                        "z": 372.9170227050781
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.20428411662578583,
                        "yaw": 0.15480992197990417
                    }
                },
                "velocity": {
                    "x": 7.908796787261963,
                    "y": 0.005205086432397366,
                    "z": -0.030908964574337006
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.463622093200684,
                "transform": {
                    "location": {
                        "x": -129.84703063964844,
                        "y": 4298.44287109375,
                        "z": 372.9217224121094
                    },
                    "rotation": {
                        "roll": 0.012449648231267929,
                        "pitch": -0.3542477488517761,
                        "yaw": 0.10422063618898392
                    }
                },
                "velocity": {
                    "x": 5.463580131530762,
                    "y": -0.0014902129769325256,
                    "z": -0.021393680945038795
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.063961029052734,
                "transform": {
                    "location": {
                        "x": -43.30445098876953,
                        "y": 4301.2236328125,
                        "z": 372.57763671875
                    },
                    "rotation": {
                        "roll": 0.00030710463761352,
                        "pitch": -0.23818917572498322,
                        "yaw": -0.338714599609375
                    }
                },
                "velocity": {
                    "x": 8.063753128051758,
                    "y": -0.0476638488471508,
                    "z": -0.032761309295892715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075339317321777,
                "transform": {
                    "location": {
                        "x": -43.24882888793945,
                        "y": 4297.97412109375,
                        "z": 372.5627746582031
                    },
                    "rotation": {
                        "roll": -3.051756721106358e-05,
                        "pitch": -0.23892682790756226,
                        "yaw": -0.349334716796875
                    }
                },
                "velocity": {
                    "x": 8.075119972229004,
                    "y": -0.04924231767654419,
                    "z": -0.03334983438253403
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11268,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1.3044531345367432,
                        "y": 4300.869140625,
                        "z": 372.38330078125
                    },
                    "rotation": {
                        "roll": 5.211074627364809e-11,
                        "pitch": -0.2602848410606384,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11267,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 1.2774999141693115,
                        "y": 4297.619140625,
                        "z": 372.38336181640625
                    },
                    "rotation": {
                        "roll": 5.211074627364809e-11,
                        "pitch": -0.2602848410606384,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.04623794555664,
                "transform": {
                    "location": {
                        "x": -87.15608978271484,
                        "y": 4298.22998046875,
                        "z": 372.7440490722656
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.23486287891864777,
                        "yaw": -0.3061523139476776
                    }
                },
                "velocity": {
                    "x": 8.046046257019043,
                    "y": -0.04367518797516823,
                    "z": -0.03425158932805061
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.034594535827637,
                "transform": {
                    "location": {
                        "x": -87.50257873535156,
                        "y": 4301.48291015625,
                        "z": 372.7906188964844
                    },
                    "rotation": {
                        "roll": 0.0009430121281184256,
                        "pitch": -0.23497898876667023,
                        "yaw": -0.3400573432445526
                    }
                },
                "velocity": {
                    "x": 8.034393310546875,
                    "y": -0.045963432639837265,
                    "z": -0.03345569223165512
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.920520782470703,
                "transform": {
                    "location": {
                        "x": -62.59859085083008,
                        "y": 4294.63671875,
                        "z": 372.6428527832031
                    },
                    "rotation": {
                        "roll": 0.00010432436101837084,
                        "pitch": 0.24895355105400085,
                        "yaw": 179.66062927246094
                    }
                },
                "velocity": {
                    "x": -7.92031192779541,
                    "y": 0.0469224788248539,
                    "z": 0.033212900161743164
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033034324645996,
                "transform": {
                    "location": {
                        "x": -80.6156234741211,
                        "y": 4294.74072265625,
                        "z": 372.7237548828125
                    },
                    "rotation": {
                        "roll": 0.000698707764968276,
                        "pitch": 0.2435850203037262,
                        "yaw": 179.63917541503906
                    }
                },
                "velocity": {
                    "x": -8.032807350158691,
                    "y": 0.050590451806783676,
                    "z": 0.03301223739981651
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026534080505371,
                "transform": {
                    "location": {
                        "x": -101.44749450683594,
                        "y": 4294.86376953125,
                        "z": 372.80853271484375
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.23747199773788452,
                        "yaw": 179.65809631347656
                    }
                },
                "velocity": {
                    "x": -8.026309967041016,
                    "y": 0.05005549266934395,
                    "z": 0.03297773376107216
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.85802936553955,
                "transform": {
                    "location": {
                        "x": -43.672264099121094,
                        "y": 4294.525390625,
                        "z": 372.5680847167969
                    },
                    "rotation": {
                        "roll": 0.00044038324267603457,
                        "pitch": 0.255312442779541,
                        "yaw": 179.65170288085938
                    }
                },
                "velocity": {
                    "x": -8.857795715332031,
                    "y": 0.05293745920062065,
                    "z": 0.03649776428937912
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4998524487018585,
        "expert_target_speed": 8.661737624864648,
        "target_point": [
            33.639962820489345,
            -0.6741199609494128
        ],
        "target_point_next": [
            84.639905436938,
            -0.7374578079528575
        ]
    },
    "235": {
        "acceleration": [
            1.9085311889648438,
            -0.061360299587249756,
            -0.011823475360870361
        ],
        "angular_velocity": [
            -0.07584916800260544,
            -0.18095934391021729,
            0.36220118403434753
        ],
        "forward_vector": [
            -0.9999905824661255,
            0.0042535243555903435,
            0.0008734462899155915
        ],
        "right_vector": [
            -0.004253532271832228,
            -0.9999909400939941,
            -7.616606126248371e-06
        ],
        "location": [
            -78.76242065429688,
            4290.9462890625,
            372.7166442871094
        ],
        "rotation": [
            0.0004363995394669473,
            0.050044793635606766,
            179.75628662109375
        ],
        "velocity": [
            -7.432737827301025,
            0.025363709777593613,
            0.03207777813076973
        ],
        "speed": 7.432781103137994,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.377802848815918,
                "transform": {
                    "location": {
                        "x": -126.94093322753906,
                        "y": 4301.68994140625,
                        "z": 372.9089050292969
                    },
                    "rotation": {
                        "roll": 0.0006048037321306765,
                        "pitch": -0.21197490394115448,
                        "yaw": -0.011138916015625
                    }
                },
                "velocity": {
                    "x": 8.37773323059082,
                    "y": -0.007203047629445791,
                    "z": -0.03328951448202133
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7758049964904785,
                "transform": {
                    "location": {
                        "x": -128.11483764648438,
                        "y": 4298.44189453125,
                        "z": 372.91229248046875
                    },
                    "rotation": {
                        "roll": 0.013487420976161957,
                        "pitch": 0.33599749207496643,
                        "yaw": -0.0133056640625
                    }
                },
                "velocity": {
                    "x": 7.775740623474121,
                    "y": -0.00882312748581171,
                    "z": -0.030407967045903206
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005621910095215,
                "transform": {
                    "location": {
                        "x": -41.29616928100586,
                        "y": 4301.2119140625,
                        "z": 372.5692443847656
                    },
                    "rotation": {
                        "roll": 0.0002816452761180699,
                        "pitch": -0.23803891241550446,
                        "yaw": -0.347625732421875
                    }
                },
                "velocity": {
                    "x": 8.005404472351074,
                    "y": -0.04877052083611488,
                    "z": -0.03322979062795639
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023428916931152,
                "transform": {
                    "location": {
                        "x": -41.23640441894531,
                        "y": 4297.9619140625,
                        "z": 372.5544128417969
                    },
                    "rotation": {
                        "roll": 0.0002306468231836334,
                        "pitch": -0.23937763273715973,
                        "yaw": -0.3534545600414276
                    }
                },
                "velocity": {
                    "x": 8.02320671081543,
                    "y": -0.049532994627952576,
                    "z": -0.033186912536621094
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.051989555358887,
                "transform": {
                    "location": {
                        "x": -85.14390563964844,
                        "y": 4298.21826171875,
                        "z": 372.7358093261719
                    },
                    "rotation": {
                        "roll": -0.0010375977726653218,
                        "pitch": -0.23477408289909363,
                        "yaw": -0.334686279296875
                    }
                },
                "velocity": {
                    "x": 8.051794052124023,
                    "y": -0.044633813202381134,
                    "z": -0.0340699627995491
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.019553184509277,
                "transform": {
                    "location": {
                        "x": -85.49757385253906,
                        "y": 4301.470703125,
                        "z": 372.78240966796875
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.3157653510570526
                    }
                },
                "velocity": {
                    "x": 8.019364356994629,
                    "y": -0.04389575868844986,
                    "z": -0.03309643641114235
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.832087516784668,
                "transform": {
                    "location": {
                        "x": -64.71906280517578,
                        "y": 4294.6494140625,
                        "z": 372.6512451171875
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.287236750125885,
                        "yaw": 179.66073608398438
                    }
                },
                "velocity": {
                    "x": -8.831859588623047,
                    "y": 0.05234494060277939,
                    "z": 0.03595289960503578
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017973899841309,
                "transform": {
                    "location": {
                        "x": -82.62132263183594,
                        "y": 4294.7529296875,
                        "z": 372.73193359375
                    },
                    "rotation": {
                        "roll": 0.0004909212584607303,
                        "pitch": 0.24042265117168427,
                        "yaw": 179.63893127441406
                    }
                },
                "velocity": {
                    "x": -8.017748832702637,
                    "y": 0.05047391355037689,
                    "z": 0.03268696740269661
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0247802734375,
                "transform": {
                    "location": {
                        "x": -103.45335388183594,
                        "y": 4294.87548828125,
                        "z": 372.8166198730469
                    },
                    "rotation": {
                        "roll": -0.0018310548039153218,
                        "pitch": 0.23483555018901825,
                        "yaw": 179.63453674316406
                    }
                },
                "velocity": {
                    "x": -8.02455997467041,
                    "y": 0.04941140115261078,
                    "z": 0.03317161649465561
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.441031455993652,
                "transform": {
                    "location": {
                        "x": -45.80710983276367,
                        "y": 4294.53857421875,
                        "z": 372.57720947265625
                    },
                    "rotation": {
                        "roll": 0.00012817875540349633,
                        "pitch": 0.2251366823911667,
                        "yaw": 179.65525817871094
                    }
                },
                "velocity": {
                    "x": -8.440801620483398,
                    "y": 0.050094712525606155,
                    "z": 0.0370325930416584
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5495651960372925,
        "expert_target_speed": 8.16743493353385,
        "target_point": [
            31.717089493862204,
            -0.6883441285233705
        ],
        "target_point_next": [
            82.71700168772239,
            -0.7726932984549166
        ]
    },
    "240": {
        "acceleration": [
            2.0331954956054688,
            -0.06339871883392334,
            0.0035606324672698975
        ],
        "angular_velocity": [
            -0.04785986617207527,
            -0.13661280274391174,
            0.41825011372566223
        ],
        "forward_vector": [
            -0.9999963045120239,
            0.0024894753005355597,
            0.001089572673663497
        ],
        "right_vector": [
            -0.002489271340891719,
            -0.9999969005584717,
            0.00018855169764719903
        ],
        "location": [
            -80.5828857421875,
            4290.951171875,
            372.72418212890625
        ],
        "rotation": [
            -0.010803223587572575,
            0.06242792680859566,
            179.85736083984375
        ],
        "velocity": [
            -7.063405513763428,
            0.010743108578026295,
            0.029218243435025215
        ],
        "speed": 7.0634136836409,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.877590179443359,
                "transform": {
                    "location": {
                        "x": -124.91804504394531,
                        "y": 4301.68798828125,
                        "z": 372.9011535644531
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": -0.23291626572608948,
                        "yaw": -0.0999450609087944
                    }
                },
                "velocity": {
                    "x": 7.877499103546143,
                    "y": -0.020274056121706963,
                    "z": -0.031973209232091904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.35336971282959,
                "transform": {
                    "location": {
                        "x": -126.06226348876953,
                        "y": 4298.439453125,
                        "z": 372.90484619140625
                    },
                    "rotation": {
                        "roll": 0.008605815470218658,
                        "pitch": 0.19371098279953003,
                        "yaw": -0.0714111328125
                    }
                },
                "velocity": {
                    "x": 8.353292465209961,
                    "y": -0.013426478020846844,
                    "z": -0.03318728506565094
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064593315124512,
                "transform": {
                    "location": {
                        "x": -39.28742218017578,
                        "y": 4301.20068359375,
                        "z": 372.5608825683594
                    },
                    "rotation": {
                        "roll": 0.0005433304468169808,
                        "pitch": -0.23886536061763763,
                        "yaw": -0.3515320420265198
                    }
                },
                "velocity": {
                    "x": 8.064373016357422,
                    "y": -0.04948696866631508,
                    "z": -0.03318023681640625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07540512084961,
                "transform": {
                    "location": {
                        "x": -39.22343826293945,
                        "y": 4297.95068359375,
                        "z": 372.5460205078125
                    },
                    "rotation": {
                        "roll": 0.0010228899773210287,
                        "pitch": -0.23916588723659515,
                        "yaw": -0.3538207709789276
                    }
                },
                "velocity": {
                    "x": 8.075183868408203,
                    "y": -0.04986213147640228,
                    "z": -0.032867372035980225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.051359176635742,
                "transform": {
                    "location": {
                        "x": -83.13023376464844,
                        "y": 4298.20654296875,
                        "z": 372.7275390625
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.23497898876667023,
                        "yaw": -0.3046874701976776
                    }
                },
                "velocity": {
                    "x": 8.051163673400879,
                    "y": -0.04500488191843033,
                    "z": -0.03359268605709076
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.037174224853516,
                "transform": {
                    "location": {
                        "x": -83.48992156982422,
                        "y": 4301.45947265625,
                        "z": 372.774169921875
                    },
                    "rotation": {
                        "roll": 0.00043285073479637504,
                        "pitch": -0.23428229987621307,
                        "yaw": -0.342559814453125
                    }
                },
                "velocity": {
                    "x": 8.036971092224121,
                    "y": -0.046335652470588684,
                    "z": -0.0336005762219429
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.109760284423828,
                "transform": {
                    "location": {
                        "x": -66.82218933105469,
                        "y": 4294.66162109375,
                        "z": 372.66046142578125
                    },
                    "rotation": {
                        "roll": 0.0006325581925921142,
                        "pitch": 0.2161959707736969,
                        "yaw": 179.6605987548828
                    }
                },
                "velocity": {
                    "x": -8.109548568725586,
                    "y": 0.047994550317525864,
                    "z": 0.03375069424510002
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03453254699707,
                "transform": {
                    "location": {
                        "x": -84.62726593017578,
                        "y": 4294.76416015625,
                        "z": 372.74017333984375
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.24148815870285034,
                        "yaw": 179.64602661132812
                    }
                },
                "velocity": {
                    "x": -8.034310340881348,
                    "y": 0.049601998180150986,
                    "z": 0.033435095101594925
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026384353637695,
                "transform": {
                    "location": {
                        "x": -105.45921325683594,
                        "y": 4294.8876953125,
                        "z": 372.82464599609375
                    },
                    "rotation": {
                        "roll": 0.0008994887466542423,
                        "pitch": 0.23554588854312897,
                        "yaw": 179.65809631347656
                    }
                },
                "velocity": {
                    "x": -8.02616024017334,
                    "y": 0.049934305250644684,
                    "z": 0.033136557787656784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.697807312011719,
                "transform": {
                    "location": {
                        "x": -47.945701599121094,
                        "y": 4294.55126953125,
                        "z": 372.5859680175781
                    },
                    "rotation": {
                        "roll": 0.0013303720625117421,
                        "pitch": 0.2442338913679123,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -8.697576522827148,
                    "y": 0.051473598927259445,
                    "z": 0.03697865456342697
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5989142656326294,
        "expert_target_speed": 7.869889850055701,
        "target_point": [
            29.89535443958595,
            -0.7439356318151734
        ],
        "target_point_next": [
            80.89503852475924,
            -0.9182393220800776
        ]
    },
    "245": {
        "acceleration": [
            3.2801055908203125,
            -0.04360128194093704,
            -0.00811845064163208
        ],
        "angular_velocity": [
            -0.03375281020998955,
            -0.46471256017684937,
            0.3687041997909546
        ],
        "forward_vector": [
            -0.999999463558197,
            0.0007945614634081721,
            0.0007122753886505961
        ],
        "right_vector": [
            -0.000794386665802449,
            -0.9999996423721313,
            0.00024554337142035365
        ],
        "location": [
            -82.27101135253906,
            4290.95263671875,
            372.7311706542969
        ],
        "rotation": [
            -0.01406860165297985,
            0.04081037640571594,
            179.95448303222656
        ],
        "velocity": [
            -6.505306720733643,
            -0.0016532647423446178,
            0.027734335511922836
        ],
        "speed": 6.505306930814765,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.127641677856445,
                "transform": {
                    "location": {
                        "x": -122.92796325683594,
                        "y": 4301.68212890625,
                        "z": 372.8932800292969
                    },
                    "rotation": {
                        "roll": 7.520528743043542e-05,
                        "pitch": -0.22207675874233246,
                        "yaw": -0.1921691596508026
                    }
                },
                "velocity": {
                    "x": 8.127516746520996,
                    "y": -0.03071110136806965,
                    "z": -0.0330156572163105
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.83561372756958,
                "transform": {
                    "location": {
                        "x": -124.04702758789062,
                        "y": 4298.4345703125,
                        "z": 372.8984375
                    },
                    "rotation": {
                        "roll": 0.016530606895685196,
                        "pitch": -0.21249400079250336,
                        "yaw": -0.1582336276769638
                    }
                },
                "velocity": {
                    "x": 7.835500717163086,
                    "y": -0.026900021359324455,
                    "z": -0.03235494717955589
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004936218261719,
                "transform": {
                    "location": {
                        "x": -37.27921676635742,
                        "y": 4301.1884765625,
                        "z": 372.552490234375
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": -0.23848970234394073,
                        "yaw": -0.3450317680835724
                    }
                },
                "velocity": {
                    "x": 8.00472354888916,
                    "y": -0.04799707233905792,
                    "z": -0.033303096890449524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023082733154297,
                "transform": {
                    "location": {
                        "x": -37.2111701965332,
                        "y": 4297.9384765625,
                        "z": 372.53759765625
                    },
                    "rotation": {
                        "roll": 0.0003362951101735234,
                        "pitch": -0.23995819687843323,
                        "yaw": -0.350433349609375
                    }
                },
                "velocity": {
                    "x": 8.02286434173584,
                    "y": -0.0490403026342392,
                    "z": -0.03318671137094498
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050430297851562,
                "transform": {
                    "location": {
                        "x": -81.11796569824219,
                        "y": 4298.19482421875,
                        "z": 372.71923828125
                    },
                    "rotation": {
                        "roll": 0.0002959041448775679,
                        "pitch": -0.2366592139005661,
                        "yaw": -0.3383789360523224
                    }
                },
                "velocity": {
                    "x": 8.050225257873535,
                    "y": -0.046845462173223495,
                    "z": -0.03320760652422905
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028512954711914,
                "transform": {
                    "location": {
                        "x": -81.48124694824219,
                        "y": 4301.447265625,
                        "z": 372.76593017578125
                    },
                    "rotation": {
                        "roll": 0.0007955324253998697,
                        "pitch": -0.23672068119049072,
                        "yaw": -0.3136901259422302
                    }
                },
                "velocity": {
                    "x": 8.028316497802734,
                    "y": -0.045641619712114334,
                    "z": -0.03281788155436516
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.536314964294434,
                "transform": {
                    "location": {
                        "x": -68.90632629394531,
                        "y": 4294.673828125,
                        "z": 372.6688232421875
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.25167879462242126,
                        "yaw": 179.6604766845703
                    }
                },
                "velocity": {
                    "x": -8.536099433898926,
                    "y": 0.0505635142326355,
                    "z": 0.03347902372479439
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017948150634766,
                "transform": {
                    "location": {
                        "x": -86.63304138183594,
                        "y": 4294.7763671875,
                        "z": 372.7483825683594
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": 0.2407504916191101,
                        "yaw": 179.64675903320312
                    }
                },
                "velocity": {
                    "x": -8.017725944519043,
                    "y": 0.04946625232696533,
                    "z": 0.03352530300617218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026162147521973,
                "transform": {
                    "location": {
                        "x": -107.46507263183594,
                        "y": 4294.8994140625,
                        "z": 372.8326721191406
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.2356688380241394,
                        "yaw": 179.6311492919922
                    }
                },
                "velocity": {
                    "x": -8.025941848754883,
                    "y": 0.0497899055480957,
                    "z": 0.032566118985414505
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.33873462677002,
                "transform": {
                    "location": {
                        "x": -50.066951751708984,
                        "y": 4294.5634765625,
                        "z": 372.5950012207031
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.2297402322292328,
                        "yaw": 179.66465759277344
                    }
                },
                "velocity": {
                    "x": -8.338517189025879,
                    "y": 0.04829711839556694,
                    "z": 0.03589524328708649
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6491745114326477,
        "expert_target_speed": 7.405302496829032,
        "target_point": [
            28.205924158857947,
            -0.794488032535326
        ],
        "target_point_next": [
            79.20523949704888,
            -1.0552438564035305
        ]
    },
    "250": {
        "acceleration": [
            5.191173553466797,
            -0.011511072516441345,
            -0.07693823426961899
        ],
        "angular_velocity": [
            -0.022731639444828033,
            -0.2630646228790283,
            0.21613788604736328
        ],
        "forward_vector": [
            -0.9999857544898987,
            -0.0005163199384696782,
            -0.005318258423358202
        ],
        "right_vector": [
            0.0005151460063643754,
            -0.9999998807907104,
            0.0002221044705947861
        ],
        "location": [
            -83.62257385253906,
            4290.951171875,
            372.73779296875
        ],
        "rotation": [
            -0.012725829146802425,
            -0.30471521615982056,
            -179.9704132080078
        ],
        "velocity": [
            -4.7065043449401855,
            -0.00968959741294384,
            0.017374983057379723
        ],
        "speed": 4.7065143192429435,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.096867561340332,
                "transform": {
                    "location": {
                        "x": -120.88742065429688,
                        "y": 4301.6748046875,
                        "z": 372.8852233886719
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.2256421148777008,
                        "yaw": -0.2354736328125
                    }
                },
                "velocity": {
                    "x": 8.09672737121582,
                    "y": -0.03423040732741356,
                    "z": -0.03302084282040596
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.065999031066895,
                "transform": {
                    "location": {
                        "x": -122.07359313964844,
                        "y": 4298.42724609375,
                        "z": 372.8905334472656
                    },
                    "rotation": {
                        "roll": 0.010547864250838757,
                        "pitch": -0.19244056940078735,
                        "yaw": -0.210205078125
                    }
                },
                "velocity": {
                    "x": 8.065871238708496,
                    "y": -0.03149672597646713,
                    "z": -0.03250798583030701
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064360618591309,
                "transform": {
                    "location": {
                        "x": -35.270469665527344,
                        "y": 4301.1767578125,
                        "z": 372.5441589355469
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3525085747241974
                    }
                },
                "velocity": {
                    "x": 8.06413459777832,
                    "y": -0.04972650855779648,
                    "z": -0.03422720730304718
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076094627380371,
                "transform": {
                    "location": {
                        "x": -35.198204040527344,
                        "y": 4297.92724609375,
                        "z": 372.5291748046875
                    },
                    "rotation": {
                        "roll": 0.0003315574140287936,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.3497924506664276
                    }
                },
                "velocity": {
                    "x": 8.075874328613281,
                    "y": -0.04935798421502113,
                    "z": -0.03348817676305771
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -161.6073455810547,
                        "y": 4301.82177734375,
                        "z": 373.23974609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.19881996512413025,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.051641464233398,
                "transform": {
                    "location": {
                        "x": -79.10445404052734,
                        "y": 4298.18310546875,
                        "z": 372.7109680175781
                    },
                    "rotation": {
                        "roll": -0.00021362297411542386,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.3056945502758026
                    }
                },
                "velocity": {
                    "x": 8.051444053649902,
                    "y": -0.04546045511960983,
                    "z": -0.033372264355421066
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02881908416748,
                "transform": {
                    "location": {
                        "x": -79.474609375,
                        "y": 4301.43603515625,
                        "z": 372.7576904296875
                    },
                    "rotation": {
                        "roll": -3.0517559935105965e-05,
                        "pitch": -0.23690509796142578,
                        "yaw": -0.3426818251609802
                    }
                },
                "velocity": {
                    "x": 8.028620719909668,
                    "y": -0.046035364270210266,
                    "z": -0.0325530581176281
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.691512107849121,
                "transform": {
                    "location": {
                        "x": -70.93195343017578,
                        "y": 4294.68505859375,
                        "z": 372.6774597167969
                    },
                    "rotation": {
                        "roll": 0.0007419505855068564,
                        "pitch": 0.20250143110752106,
                        "yaw": 179.6603240966797
                    }
                },
                "velocity": {
                    "x": -7.691309452056885,
                    "y": 0.04552178457379341,
                    "z": 0.03234798461198807
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.034294128417969,
                "transform": {
                    "location": {
                        "x": -88.63898468017578,
                        "y": 4294.7880859375,
                        "z": 372.756591796875
                    },
                    "rotation": {
                        "roll": 0.0005526024615392089,
                        "pitch": 0.24137887358665466,
                        "yaw": 179.64271545410156
                    }
                },
                "velocity": {
                    "x": -8.034070014953613,
                    "y": 0.05008987709879875,
                    "z": 0.033044613897800446
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02547550201416,
                "transform": {
                    "location": {
                        "x": -109.47093200683594,
                        "y": 4294.9111328125,
                        "z": 372.8406982421875
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": 0.2352248728275299,
                        "yaw": 179.65823364257812
                    }
                },
                "velocity": {
                    "x": -8.025254249572754,
                    "y": 0.04984020069241524,
                    "z": 0.0325155071914196
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.148739337921143,
                "transform": {
                    "location": {
                        "x": -51.965389251708984,
                        "y": 4294.57470703125,
                        "z": 372.60308837890625
                    },
                    "rotation": {
                        "roll": 0.0008134624222293496,
                        "pitch": 0.20338936150074005,
                        "yaw": 179.68666076660156
                    }
                },
                "velocity": {
                    "x": -7.148558139801025,
                    "y": 0.04176170378923416,
                    "z": 0.02907428704202175
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6328855156898499,
        "expert_target_speed": 5.802595138599252,
        "target_point": [
            26.853295415252997,
            -0.832227240529291
        ],
        "target_point_next": [
            77.85222513308389,
            -1.1598340165001966
        ]
    },
    "255": {
        "acceleration": [
            -1.5803241729736328,
            -0.02649594098329544,
            0.00453166663646698
        ],
        "angular_velocity": [
            0.006550303660333157,
            1.7072731256484985,
            0.21166734397411346
        ],
        "forward_vector": [
            -0.9999979138374329,
            -0.001630932092666626,
            -0.0012288090074434876
        ],
        "right_vector": [
            0.001630763872526586,
            -0.9999986886978149,
            0.00013795164704788476
        ],
        "location": [
            -84.74436950683594,
            4290.94873046875,
            372.7415466308594
        ],
        "rotation": [
            -0.007904052734375,
            -0.07040558755397797,
            -179.90655517578125
        ],
        "velocity": [
            -4.529544353485107,
            -0.014186694286763668,
            0.017962245270609856
        ],
        "speed": 4.529566570046588,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -162.60601806640625,
                        "y": 4298.578125,
                        "z": 373.2359619140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.19881996512413025,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.016661643981934,
                "transform": {
                    "location": {
                        "x": -118.88031005859375,
                        "y": 4301.66552734375,
                        "z": 372.8773498535156
                    },
                    "rotation": {
                        "roll": 0.0009677791385911405,
                        "pitch": -0.22940555214881897,
                        "yaw": -0.2680663764476776
                    }
                },
                "velocity": {
                    "x": 8.016491889953613,
                    "y": -0.040133848786354065,
                    "z": -0.03331063687801361
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.08841609954834,
                "transform": {
                    "location": {
                        "x": -120.03858947753906,
                        "y": 4298.41943359375,
                        "z": 372.8825378417969
                    },
                    "rotation": {
                        "roll": 0.007895604707300663,
                        "pitch": -0.18593822419643402,
                        "yaw": -0.2318115085363388
                    }
                },
                "velocity": {
                    "x": 8.088265419006348,
                    "y": -0.03667064756155014,
                    "z": -0.0330004058778286
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005207061767578,
                "transform": {
                    "location": {
                        "x": -33.26218795776367,
                        "y": 4301.1650390625,
                        "z": 372.5357666015625
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": -0.23803891241550446,
                        "yaw": -0.3515320122241974
                    }
                },
                "velocity": {
                    "x": 8.004976272583008,
                    "y": -0.05075550824403763,
                    "z": -0.03338978812098503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.022805213928223,
                "transform": {
                    "location": {
                        "x": -33.18601608276367,
                        "y": 4297.9150390625,
                        "z": 372.5207824707031
                    },
                    "rotation": {
                        "roll": 0.0004984356928616762,
                        "pitch": -0.23978060483932495,
                        "yaw": -0.3493957221508026
                    }
                },
                "velocity": {
                    "x": 8.022584915161133,
                    "y": -0.04895133897662163,
                    "z": -0.03383065015077591
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -158.4247589111328,
                        "y": 4301.8037109375,
                        "z": 373.08935546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.20349182188510895,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050544738769531,
                "transform": {
                    "location": {
                        "x": -77.09187316894531,
                        "y": 4298.17138671875,
                        "z": 372.70263671875
                    },
                    "rotation": {
                        "roll": -3.0517610866809264e-05,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.3356628119945526
                    }
                },
                "velocity": {
                    "x": 8.050332069396973,
                    "y": -0.047919273376464844,
                    "z": -0.0335078127682209
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032967567443848,
                "transform": {
                    "location": {
                        "x": -77.466796875,
                        "y": 4301.423828125,
                        "z": 372.7494201660156
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.23678214848041534,
                        "yaw": -0.3155212104320526
                    }
                },
                "velocity": {
                    "x": 8.032766342163086,
                    "y": -0.04621313139796257,
                    "z": -0.03299812600016594
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.619716167449951,
                "transform": {
                    "location": {
                        "x": -72.81937408447266,
                        "y": 4294.69677734375,
                        "z": 372.68511962890625
                    },
                    "rotation": {
                        "roll": 0.0003149420954287052,
                        "pitch": 0.22127079963684082,
                        "yaw": 179.6653289794922
                    }
                },
                "velocity": {
                    "x": -7.619528770446777,
                    "y": 0.0428532175719738,
                    "z": 0.03189115598797798
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018723487854004,
                "transform": {
                    "location": {
                        "x": -90.64476013183594,
                        "y": 4294.7998046875,
                        "z": 372.7648010253906
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": 0.24075733125209808,
                        "yaw": 179.64256286621094
                    }
                },
                "velocity": {
                    "x": -8.018501281738281,
                    "y": 0.049974001944065094,
                    "z": 0.03272731602191925
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025585174560547,
                "transform": {
                    "location": {
                        "x": -111.47679138183594,
                        "y": 4294.9228515625,
                        "z": 372.84869384765625
                    },
                    "rotation": {
                        "roll": -6.10350543865934e-05,
                        "pitch": 0.23438476026058197,
                        "yaw": 179.6280975341797
                    }
                },
                "velocity": {
                    "x": -8.025359153747559,
                    "y": 0.05013292655348778,
                    "z": 0.03339167684316635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.455467700958252,
                "transform": {
                    "location": {
                        "x": -53.770389556884766,
                        "y": 4294.5849609375,
                        "z": 372.6102600097656
                    },
                    "rotation": {
                        "roll": -3.051756721106358e-05,
                        "pitch": 0.23907026648521423,
                        "yaw": 179.688232421875
                    }
                },
                "velocity": {
                    "x": -7.45528507232666,
                    "y": 0.043110914528369904,
                    "z": 0.029348688200116158
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.656512975692749,
        "expert_target_speed": 5.637112047631748,
        "target_point": [
            25.730553190211293,
            -0.8627631675490498
        ],
        "target_point_next": [
            76.72908616780018,
            -1.247201326029821
        ]
    },
    "260": {
        "acceleration": [
            -2.545919418334961,
            0.08260250091552734,
            0.1043887808918953
        ],
        "angular_velocity": [
            0.036423489451408386,
            1.084547758102417,
            0.011562149040400982
        ],
        "forward_vector": [
            -0.9999830722808838,
            -0.002655141521245241,
            0.005176163278520107
        ],
        "right_vector": [
            0.0026553617790341377,
            -0.9999964833259583,
            3.568587271729484e-05
        ],
        "location": [
            -85.95445251464844,
            4290.94482421875,
            372.7452392578125
        ],
        "rotation": [
            -0.0020446775015443563,
            0.2965736389160156,
            -179.84786987304688
        ],
        "velocity": [
            -5.123178482055664,
            -0.015009617432951927,
            0.024486826732754707
        ],
        "speed": 5.12320046920025,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -159.9742889404297,
                        "y": 4298.5625,
                        "z": 373.0892639160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.20349182188510895,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.093110084533691,
                "transform": {
                    "location": {
                        "x": -116.86531066894531,
                        "y": 4301.65576171875,
                        "z": 372.86932373046875
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": -0.224754199385643,
                        "yaw": -0.2995299994945526
                    }
                },
                "velocity": {
                    "x": 8.092926025390625,
                    "y": -0.04364039748907089,
                    "z": -0.03270512819290161
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.954473972320557,
                "transform": {
                    "location": {
                        "x": -118.04171752929688,
                        "y": 4298.40966796875,
                        "z": 372.8749084472656
                    },
                    "rotation": {
                        "roll": 0.007641549687832594,
                        "pitch": -0.26126155257225037,
                        "yaw": -0.2753905653953552
                    }
                },
                "velocity": {
                    "x": 7.954306602478027,
                    "y": -0.040079258382320404,
                    "z": -0.0324995331466198
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064130783081055,
                "transform": {
                    "location": {
                        "x": -31.253515243530273,
                        "y": 4301.1533203125,
                        "z": 372.5273742675781
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.2387697398662567,
                        "yaw": -0.35302734375
                    }
                },
                "velocity": {
                    "x": 8.063909530639648,
                    "y": -0.049698010087013245,
                    "z": -0.03329307958483696
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076614379882812,
                "transform": {
                    "location": {
                        "x": -31.173124313354492,
                        "y": 4297.90283203125,
                        "z": 372.5123596191406
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": -0.23837359249591827,
                        "yaw": -0.3575744330883026
                    }
                },
                "velocity": {
                    "x": 8.076387405395508,
                    "y": -0.05047086626291275,
                    "z": -0.033325422555208206
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -154.95327758789062,
                        "y": 4301.78271484375,
                        "z": 373.03082275390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.20819097757339478,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.052044868469238,
                "transform": {
                    "location": {
                        "x": -75.07937622070312,
                        "y": 4298.15966796875,
                        "z": 372.69439697265625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -0.2363860011100769,
                        "yaw": -0.301513671875
                    }
                },
                "velocity": {
                    "x": 8.051856994628906,
                    "y": -0.04393473640084267,
                    "z": -0.033173318952322006
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028679847717285,
                "transform": {
                    "location": {
                        "x": -75.458984375,
                        "y": 4301.41259765625,
                        "z": 372.7411193847656
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": -0.23705536127090454,
                        "yaw": -0.3383484184741974
                    }
                },
                "velocity": {
                    "x": 8.028480529785156,
                    "y": -0.045585256069898605,
                    "z": -0.03350681811571121
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.880741119384766,
                "transform": {
                    "location": {
                        "x": -74.77460479736328,
                        "y": 4294.70849609375,
                        "z": 372.6929626464844
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.24939751625061035,
                        "yaw": 179.66831970214844
                    }
                },
                "velocity": {
                    "x": -7.8805413246154785,
                    "y": 0.04565552622079849,
                    "z": 0.032656870782375336
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033615112304688,
                "transform": {
                    "location": {
                        "x": -92.65070343017578,
                        "y": 4294.81103515625,
                        "z": 372.77294921875
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.23951423168182373,
                        "yaw": 179.64256286621094
                    }
                },
                "velocity": {
                    "x": -8.033388137817383,
                    "y": 0.05008111894130707,
                    "z": 0.033674925565719604
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026247024536133,
                "transform": {
                    "location": {
                        "x": -113.48257446289062,
                        "y": 4294.93505859375,
                        "z": 372.85662841796875
                    },
                    "rotation": {
                        "roll": 0.0005594852264039218,
                        "pitch": 0.23295041918754578,
                        "yaw": 179.65640258789062
                    }
                },
                "velocity": {
                    "x": -8.026023864746094,
                    "y": 0.05003734305500984,
                    "z": 0.032914284616708755
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.018135070800781,
                "transform": {
                    "location": {
                        "x": -55.735389709472656,
                        "y": 4294.5966796875,
                        "z": 372.61810302734375
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.25573593378067017,
                        "yaw": 179.67311096191406
                    }
                },
                "velocity": {
                    "x": -8.017928123474121,
                    "y": 0.046840038150548935,
                    "z": 0.03360547870397568
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6733114123344421,
        "expert_target_speed": 6.18652928871893,
        "target_point": [
            24.519566897776635,
            -0.8898105518623396
        ],
        "target_point_next": [
            75.51767936532927,
            -1.3264835539714324
        ]
    },
    "265": {
        "acceleration": [
            -3.2788658142089844,
            0.06751319766044617,
            -0.020146183669567108
        ],
        "angular_velocity": [
            0.040129099041223526,
            0.6109004020690918,
            -0.29790619015693665
        ],
        "forward_vector": [
            -0.9999836087226868,
            -0.0006093005067668855,
            0.005693523678928614
        ],
        "right_vector": [
            0.0006077851867303252,
            -0.9999997615814209,
            -0.00026786705711856484
        ],
        "location": [
            -87.23820495605469,
            4290.943359375,
            372.75054931640625
        ],
        "rotation": [
            0.015347899869084358,
            0.3262166380882263,
            -179.965087890625
        ],
        "velocity": [
            -5.299877643585205,
            0.0031604585237801075,
            0.02133941650390625
        ],
        "speed": 5.299878585918016,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -156.50241088867188,
                        "y": 4298.5419921875,
                        "z": 373.0345153808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.20349182188510895,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.074369430541992,
                "transform": {
                    "location": {
                        "x": -114.84242248535156,
                        "y": 4301.64404296875,
                        "z": 372.861328125
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.2271106094121933,
                        "yaw": -0.3096618354320526
                    }
                },
                "velocity": {
                    "x": 8.074182510375977,
                    "y": -0.04351241886615753,
                    "z": -0.03349214419722557
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.071096420288086,
                "transform": {
                    "location": {
                        "x": -116.0374984741211,
                        "y": 4298.39990234375,
                        "z": 372.8667907714844
                    },
                    "rotation": {
                        "roll": 0.0049542929045856,
                        "pitch": -0.20809535682201385,
                        "yaw": -0.2944640815258026
                    }
                },
                "velocity": {
                    "x": 8.070916175842285,
                    "y": -0.04263695329427719,
                    "z": -0.03316327929496765
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.005542755126953,
                "transform": {
                    "location": {
                        "x": -29.2452335357666,
                        "y": 4301.1416015625,
                        "z": 372.51904296875
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.352996826171875
                    }
                },
                "velocity": {
                    "x": 8.005322456359863,
                    "y": -0.04926742985844612,
                    "z": -0.03312107175588608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021970748901367,
                "transform": {
                    "location": {
                        "x": -29.160701751708984,
                        "y": 4297.89111328125,
                        "z": 372.5040283203125
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": -0.23913173377513885,
                        "yaw": -0.352142333984375
                    }
                },
                "velocity": {
                    "x": 8.02175235748291,
                    "y": -0.049271564930677414,
                    "z": -0.03279528021812439
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.558976173400879,
                "transform": {
                    "location": {
                        "x": -151.56703186035156,
                        "y": 4301.7822265625,
                        "z": 373.0103759765625
                    },
                    "rotation": {
                        "roll": -0.04266357421875,
                        "pitch": -0.23159120976924896,
                        "yaw": 0.2355884164571762
                    }
                },
                "velocity": {
                    "x": 13.558703422546387,
                    "y": 0.04723250865936279,
                    "z": -0.07192288339138031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05048656463623,
                "transform": {
                    "location": {
                        "x": -73.0660171508789,
                        "y": 4298.14794921875,
                        "z": 372.6861267089844
                    },
                    "rotation": {
                        "roll": 0.00014402164379134774,
                        "pitch": -0.2355663776397705,
                        "yaw": -0.3343506157398224
                    }
                },
                "velocity": {
                    "x": 8.050278663635254,
                    "y": -0.047428105026483536,
                    "z": -0.0331820510327816
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030911445617676,
                "transform": {
                    "location": {
                        "x": -73.4520263671875,
                        "y": 4301.400390625,
                        "z": 372.7328186035156
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.23657041788101196,
                        "yaw": -0.3118590712547302
                    }
                },
                "velocity": {
                    "x": 8.030713081359863,
                    "y": -0.04536810889840126,
                    "z": -0.033449120819568634
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.759719371795654,
                "transform": {
                    "location": {
                        "x": -76.72093200683594,
                        "y": 4294.7197265625,
                        "z": 372.7010803222656
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.23092184960842133,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": -7.759513854980469,
                    "y": 0.04607587307691574,
                    "z": 0.03254076838493347
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01874828338623,
                "transform": {
                    "location": {
                        "x": -94.65647888183594,
                        "y": 4294.8232421875,
                        "z": 372.7810974121094
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.23842139542102814,
                        "yaw": 179.642578125
                    }
                },
                "velocity": {
                    "x": -8.018524169921875,
                    "y": 0.050024110823869705,
                    "z": 0.03315329551696777
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025703430175781,
                "transform": {
                    "location": {
                        "x": -115.48843383789062,
                        "y": 4294.94677734375,
                        "z": 372.8645935058594
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.23239034414291382,
                        "yaw": 179.6333770751953
                    }
                },
                "velocity": {
                    "x": -8.025477409362793,
                    "y": 0.050637539476156235,
                    "z": 0.03250924125313759
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.138833999633789,
                "transform": {
                    "location": {
                        "x": -57.9592170715332,
                        "y": 4294.609375,
                        "z": 372.6272277832031
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.2709057927131653,
                        "yaw": 179.67176818847656
                    }
                },
                "velocity": {
                    "x": -9.138605117797852,
                    "y": 0.05313374102115631,
                    "z": 0.036987245082855225
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6720976233482361,
        "expert_target_speed": 6.307260934828852,
        "target_point": [
            23.237582722835366,
            -0.8403332411082673
        ],
        "target_point_next": [
            74.23648175825952,
            -1.1726820616761344
        ]
    },
    "270": {
        "acceleration": [
            3.075704574584961,
            0.02439286559820175,
            0.002660006284713745
        ],
        "angular_velocity": [
            0.002993220230564475,
            -0.8985784649848938,
            -0.29554447531700134
        ],
        "forward_vector": [
            -0.9999953508377075,
            0.000956920615863055,
            0.0028814037796109915
        ],
        "right_vector": [
            -0.0009577214368619025,
            -0.999999463558197,
            -0.0002765575482044369
        ],
        "location": [
            -88.49343872070312,
            4290.94482421875,
            372.75604248046875
        ],
        "rotation": [
            0.01584564708173275,
            0.16509249806404114,
            179.94517517089844
        ],
        "velocity": [
            -4.7377214431762695,
            0.011532515287399292,
            0.017634373158216476
        ],
        "speed": 4.737735479323543,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.045309066772461,
                "transform": {
                    "location": {
                        "x": -153.44241333007812,
                        "y": 4298.53173828125,
                        "z": 373.0080871582031
                    },
                    "rotation": {
                        "roll": -0.004791260231286287,
                        "pitch": -0.23114041984081268,
                        "yaw": -0.01763916015625
                    }
                },
                "velocity": {
                    "x": 12.04521369934082,
                    "y": 0.015304774977266788,
                    "z": -0.04555857926607132
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.040719985961914,
                "transform": {
                    "location": {
                        "x": -112.83116912841797,
                        "y": 4301.63232421875,
                        "z": 372.8533935546875
                    },
                    "rotation": {
                        "roll": 0.00045725444215349853,
                        "pitch": -0.22723354399204254,
                        "yaw": -0.3156737983226776
                    }
                },
                "velocity": {
                    "x": 8.040529251098633,
                    "y": -0.04446199908852577,
                    "z": -0.032992616295814514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03166675567627,
                "transform": {
                    "location": {
                        "x": -114.02163696289062,
                        "y": 4298.39013671875,
                        "z": 372.8588562011719
                    },
                    "rotation": {
                        "roll": 0.0025786974001675844,
                        "pitch": -0.22934408485889435,
                        "yaw": -0.3029784858226776
                    }
                },
                "velocity": {
                    "x": 8.031476020812988,
                    "y": -0.044198740273714066,
                    "z": -0.03321078047156334
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064112663269043,
                "transform": {
                    "location": {
                        "x": -27.236328125,
                        "y": 4301.1298828125,
                        "z": 372.5106201171875
                    },
                    "rotation": {
                        "roll": 2.0364324882393703e-05,
                        "pitch": -0.23937763273715973,
                        "yaw": -0.34912100434303284
                    }
                },
                "velocity": {
                    "x": 8.06389045715332,
                    "y": -0.04906637594103813,
                    "z": -0.03424578532576561
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075790405273438,
                "transform": {
                    "location": {
                        "x": -27.147890090942383,
                        "y": 4297.87939453125,
                        "z": 372.49560546875
                    },
                    "rotation": {
                        "roll": 0.0006476683192886412,
                        "pitch": -0.23886536061763763,
                        "yaw": -0.3477172553539276
                    }
                },
                "velocity": {
                    "x": 8.075571060180664,
                    "y": -0.048941705375909805,
                    "z": -0.03385186567902565
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.484709739685059,
                "transform": {
                    "location": {
                        "x": -148.18695068359375,
                        "y": 4301.796875,
                        "z": 372.9952392578125
                    },
                    "rotation": {
                        "roll": -0.009613038040697575,
                        "pitch": -0.22146204113960266,
                        "yaw": 0.24026578664779663
                    }
                },
                "velocity": {
                    "x": 13.484528541564941,
                    "y": 0.04439384862780571,
                    "z": -0.054007500410079956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.052181243896484,
                "transform": {
                    "location": {
                        "x": -71.05406188964844,
                        "y": 4298.13623046875,
                        "z": 372.67779541015625
                    },
                    "rotation": {
                        "roll": 0.00010573479812592268,
                        "pitch": -0.23650895059108734,
                        "yaw": -0.3027343153953552
                    }
                },
                "velocity": {
                    "x": 8.051992416381836,
                    "y": -0.043459877371788025,
                    "z": -0.033804286271333694
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029869079589844,
                "transform": {
                    "location": {
                        "x": -71.4442138671875,
                        "y": 4301.38916015625,
                        "z": 372.72454833984375
                    },
                    "rotation": {
                        "roll": 5.728867472498678e-05,
                        "pitch": -0.23624257743358612,
                        "yaw": -0.3348082900047302
                    }
                },
                "velocity": {
                    "x": 8.02967357635498,
                    "y": -0.04505622759461403,
                    "z": -0.033359892666339874
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.476738929748535,
                "transform": {
                    "location": {
                        "x": -78.74359130859375,
                        "y": 4294.73193359375,
                        "z": 372.70916748046875
                    },
                    "rotation": {
                        "roll": 5.8769419410964474e-05,
                        "pitch": 0.2747580111026764,
                        "yaw": 179.66062927246094
                    }
                },
                "velocity": {
                    "x": -8.476523399353027,
                    "y": 0.050227049738168716,
                    "z": 0.03352615237236023
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033956527709961,
                "transform": {
                    "location": {
                        "x": -96.66242218017578,
                        "y": 4294.8349609375,
                        "z": 372.7892150878906
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": 0.23838724195957184,
                        "yaw": 179.64559936523438
                    }
                },
                "velocity": {
                    "x": -8.033734321594238,
                    "y": 0.049795567989349365,
                    "z": 0.03310634568333626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025811195373535,
                "transform": {
                    "location": {
                        "x": -117.49429321289062,
                        "y": 4294.95849609375,
                        "z": 372.87249755859375
                    },
                    "rotation": {
                        "roll": 6.121910701040179e-05,
                        "pitch": 0.233216792345047,
                        "yaw": 179.6591339111328
                    }
                },
                "velocity": {
                    "x": -8.025588035583496,
                    "y": 0.04984211176633835,
                    "z": 0.03302156552672386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.234186172485352,
                "transform": {
                    "location": {
                        "x": -60.13039016723633,
                        "y": 4294.6220703125,
                        "z": 372.63671875
                    },
                    "rotation": {
                        "roll": -6.103519262978807e-05,
                        "pitch": 0.21658529341220856,
                        "yaw": 179.63853454589844
                    }
                },
                "velocity": {
                    "x": -8.233970642089844,
                    "y": 0.04850767180323601,
                    "z": 0.034607503563165665
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6946779489517212,
        "expert_target_speed": 5.796452187954639,
        "target_point": [
            21.98363554548926,
            -0.8036795399800465
        ],
        "target_point_next": [
            72.98299248837934,
            -1.0561671151348702
        ]
    },
    "275": {
        "acceleration": [
            0.5166435241699219,
            0.01629374921321869,
            0.01604825258255005
        ],
        "angular_velocity": [
            -0.05553048849105835,
            0.26520267128944397,
            0.08277468383312225
        ],
        "forward_vector": [
            -0.9999977946281433,
            0.002102524507790804,
            -1.6689299400240998e-06
        ],
        "right_vector": [
            -0.0021025242749601603,
            -0.9999977946281433,
            -0.00018875273235607892
        ],
        "location": [
            -89.56819915771484,
            4290.9482421875,
            372.76092529296875
        ],
        "rotation": [
            0.010814734734594822,
            -9.56226431299001e-05,
            179.87953186035156
        ],
        "velocity": [
            -4.059543609619141,
            0.015230872668325901,
            0.017437228932976723
        ],
        "speed": 4.059572181632178,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.003878593444824,
                "transform": {
                    "location": {
                        "x": -150.4364013671875,
                        "y": 4298.54052734375,
                        "z": 372.9981994628906
                    },
                    "rotation": {
                        "roll": -0.006622314453125,
                        "pitch": -0.2100556194782257,
                        "yaw": 0.3453771770000458
                    }
                },
                "velocity": {
                    "x": 12.003615379333496,
                    "y": 0.06928578019142151,
                    "z": -0.038904618471860886
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.097834587097168,
                "transform": {
                    "location": {
                        "x": -110.81218719482422,
                        "y": 4301.62060546875,
                        "z": 372.8453369140625
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.22741113603115082,
                        "yaw": -0.3173218071460724
                    }
                },
                "velocity": {
                    "x": 8.09764289855957,
                    "y": -0.04483814164996147,
                    "z": -0.0330294594168663
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.004898071289062,
                "transform": {
                    "location": {
                        "x": -112.02078247070312,
                        "y": 4298.3779296875,
                        "z": 372.85101318359375
                    },
                    "rotation": {
                        "roll": 0.0010175839997828007,
                        "pitch": -0.2381277084350586,
                        "yaw": -0.309783935546875
                    }
                },
                "velocity": {
                    "x": 8.004714012145996,
                    "y": -0.043298009783029556,
                    "z": -0.03283051401376724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.004958152770996,
                "transform": {
                    "location": {
                        "x": -25.228124618530273,
                        "y": 4301.1181640625,
                        "z": 372.5022277832031
                    },
                    "rotation": {
                        "roll": 0.000461307296063751,
                        "pitch": -0.2407846450805664,
                        "yaw": -0.349212646484375
                    }
                },
                "velocity": {
                    "x": 8.004742622375488,
                    "y": -0.048717841506004333,
                    "z": -0.03285045921802521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02416706085205,
                "transform": {
                    "location": {
                        "x": -25.13554573059082,
                        "y": 4297.86767578125,
                        "z": 372.4871520996094
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.2421848326921463,
                        "yaw": -0.3515014946460724
                    }
                },
                "velocity": {
                    "x": 8.023944854736328,
                    "y": -0.04920682683587074,
                    "z": -0.03382473066449165
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.516134262084961,
                "transform": {
                    "location": {
                        "x": -144.8117218017578,
                        "y": 4301.8017578125,
                        "z": 372.982177734375
                    },
                    "rotation": {
                        "roll": 0.014871003106236458,
                        "pitch": -0.21691995859146118,
                        "yaw": -0.025665283203125
                    }
                },
                "velocity": {
                    "x": 13.51602840423584,
                    "y": -0.0060657719150185585,
                    "z": -0.053219955414533615
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.048364639282227,
                "transform": {
                    "location": {
                        "x": -69.04109191894531,
                        "y": 4298.12451171875,
                        "z": 372.6695251464844
                    },
                    "rotation": {
                        "roll": 0.00037909779348410666,
                        "pitch": -0.23630404472351074,
                        "yaw": -0.3410033881664276
                    }
                },
                "velocity": {
                    "x": 8.04815673828125,
                    "y": -0.04733918234705925,
                    "z": -0.03322957828640938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028268814086914,
                "transform": {
                    "location": {
                        "x": -69.4364013671875,
                        "y": 4301.376953125,
                        "z": 372.71636962890625
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": -0.2370007187128067,
                        "yaw": -0.3136596381664276
                    }
                },
                "velocity": {
                    "x": 8.028069496154785,
                    "y": -0.04528717324137688,
                    "z": -0.033987291157245636
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.912911415100098,
                "transform": {
                    "location": {
                        "x": -80.81171417236328,
                        "y": 4294.7431640625,
                        "z": 372.7180480957031
                    },
                    "rotation": {
                        "roll": 0.00011369809362804517,
                        "pitch": 0.21762347221374512,
                        "yaw": 179.6604766845703
                    }
                },
                "velocity": {
                    "x": -7.912703037261963,
                    "y": 0.046856578439474106,
                    "z": 0.03315556421875954
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018321990966797,
                "transform": {
                    "location": {
                        "x": -98.66819763183594,
                        "y": 4294.8466796875,
                        "z": 372.7973327636719
                    },
                    "rotation": {
                        "roll": -0.0004882813082076609,
                        "pitch": 0.23842139542102814,
                        "yaw": 179.64219665527344
                    }
                },
                "velocity": {
                    "x": -8.018098831176758,
                    "y": 0.05007825791835785,
                    "z": 0.032767973840236664
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026008605957031,
                "transform": {
                    "location": {
                        "x": -119.50015258789062,
                        "y": 4294.97021484375,
                        "z": 372.8804626464844
                    },
                    "rotation": {
                        "roll": 0.00021301994274836034,
                        "pitch": 0.2332441210746765,
                        "yaw": 179.6329345703125
                    }
                },
                "velocity": {
                    "x": -8.025789260864258,
                    "y": 0.04943069815635681,
                    "z": 0.03278972581028938
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.163656234741211,
                "transform": {
                    "location": {
                        "x": -62.1642951965332,
                        "y": 4294.6337890625,
                        "z": 372.64501953125
                    },
                    "rotation": {
                        "roll": 0.00033972051460295916,
                        "pitch": 0.22851762175559998,
                        "yaw": 179.66531372070312
                    }
                },
                "velocity": {
                    "x": -8.163446426391602,
                    "y": 0.04824009910225868,
                    "z": 0.03306075930595398
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6819205284118652,
        "expert_target_speed": 5.163944114837948,
        "target_point": [
            20.909776753878067,
            -0.7773308695624751
        ],
        "target_point_next": [
            71.90938952722655,
            -0.9713812043442869
        ]
    },
    "280": {
        "acceleration": [
            -3.3835983276367188,
            0.03432568162679672,
            -0.004564076662063599
        ],
        "angular_velocity": [
            0.0040060472674667835,
            1.3311419486999512,
            -0.2874559164047241
        ],
        "forward_vector": [
            -0.9999828338623047,
            0.0033019650727510452,
            0.004851918201893568
        ],
        "right_vector": [
            -0.0033027869649231434,
            -0.9999945759773254,
            -0.00016140055959112942
        ],
        "location": [
            -90.646484375,
            4290.95263671875,
            372.7645263671875
        ],
        "rotation": [
            0.009247679263353348,
            0.2779955267906189,
            179.81080627441406
        ],
        "velocity": [
            -4.654731273651123,
            0.02248116210103035,
            0.01795308105647564
        ],
        "speed": 4.654785562467429,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.998085021972656,
                "transform": {
                    "location": {
                        "x": -147.4363250732422,
                        "y": 4298.5517578125,
                        "z": 372.9876403808594
                    },
                    "rotation": {
                        "roll": 0.00018330516468267888,
                        "pitch": -0.21478894352912903,
                        "yaw": 0.1922713816165924
                    }
                },
                "velocity": {
                    "x": 11.997981071472168,
                    "y": 0.023069998249411583,
                    "z": -0.04424084722995758
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04223346710205,
                "transform": {
                    "location": {
                        "x": -108.79515075683594,
                        "y": 4301.60888671875,
                        "z": 372.83734130859375
                    },
                    "rotation": {
                        "roll": 0.0006371635827235878,
                        "pitch": -0.2297675460577011,
                        "yaw": -0.3186340034008026
                    }
                },
                "velocity": {
                    "x": 8.042036056518555,
                    "y": -0.0454227589070797,
                    "z": -0.03325464949011803
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.057568550109863,
                "transform": {
                    "location": {
                        "x": -110.01101684570312,
                        "y": 4298.36669921875,
                        "z": 372.8429260253906
                    },
                    "rotation": {
                        "roll": 0.0027837087400257587,
                        "pitch": -0.22146204113960266,
                        "yaw": -0.3218993842601776
                    }
                },
                "velocity": {
                    "x": 8.057368278503418,
                    "y": -0.04654454067349434,
                    "z": -0.03268606960773468
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064859390258789,
                "transform": {
                    "location": {
                        "x": -23.21921730041504,
                        "y": 4301.1064453125,
                        "z": 372.4937744140625
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": -0.24123543500900269,
                        "yaw": -0.3492126166820526
                    }
                },
                "velocity": {
                    "x": 8.064641952514648,
                    "y": -0.049118295311927795,
                    "z": -0.0331822894513607
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076433181762695,
                "transform": {
                    "location": {
                        "x": -23.122577667236328,
                        "y": 4297.85595703125,
                        "z": 372.47869873046875
                    },
                    "rotation": {
                        "roll": -0.0003356934757903218,
                        "pitch": -0.2412969172000885,
                        "yaw": -0.3510131537914276
                    }
                },
                "velocity": {
                    "x": 8.07620906829834,
                    "y": -0.049578651785850525,
                    "z": -0.03403935953974724
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.441497802734375,
                "transform": {
                    "location": {
                        "x": -141.44248962402344,
                        "y": 4301.79443359375,
                        "z": 372.969482421875
                    },
                    "rotation": {
                        "roll": 0.019040552899241447,
                        "pitch": -0.2189963459968567,
                        "yaw": -0.2165221869945526
                    }
                },
                "velocity": {
                    "x": 13.44132137298584,
                    "y": -0.04506750404834747,
                    "z": -0.05224679782986641
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.052772521972656,
                "transform": {
                    "location": {
                        "x": -67.02851104736328,
                        "y": 4298.11279296875,
                        "z": 372.6612548828125
                    },
                    "rotation": {
                        "roll": 0.0001307396887568757,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.3119811415672302
                    }
                },
                "velocity": {
                    "x": 8.052568435668945,
                    "y": -0.04638833552598953,
                    "z": -0.03384996950626373
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032852172851562,
                "transform": {
                    "location": {
                        "x": -67.4285888671875,
                        "y": 4301.36572265625,
                        "z": 372.7080383300781
                    },
                    "rotation": {
                        "roll": 0.0008099570986814797,
                        "pitch": -0.2363860011100769,
                        "yaw": -0.34686270356178284
                    }
                },
                "velocity": {
                    "x": 8.032648086547852,
                    "y": -0.04671725258231163,
                    "z": -0.03302410989999771
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.468992710113525,
                "transform": {
                    "location": {
                        "x": -82.71077728271484,
                        "y": 4294.7548828125,
                        "z": 372.7259216308594
                    },
                    "rotation": {
                        "roll": 0.0005513309733942151,
                        "pitch": 0.2092428356409073,
                        "yaw": 179.65875244140625
                    }
                },
                "velocity": {
                    "x": -7.468788146972656,
                    "y": 0.04582681134343147,
                    "z": 0.030972890555858612
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033994674682617,
                "transform": {
                    "location": {
                        "x": -100.67414093017578,
                        "y": 4294.859375,
                        "z": 372.805419921875
                    },
                    "rotation": {
                        "roll": 0.0009031769004650414,
                        "pitch": 0.23829162120819092,
                        "yaw": 179.6344757080078
                    }
                },
                "velocity": {
                    "x": -8.03376293182373,
                    "y": 0.051294855773448944,
                    "z": 0.03319291025400162
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025350570678711,
                "transform": {
                    "location": {
                        "x": -121.50601196289062,
                        "y": 4294.98291015625,
                        "z": 372.8883361816406
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.23183709383010864,
                        "yaw": 179.65472412109375
                    }
                },
                "velocity": {
                    "x": -8.025136947631836,
                    "y": 0.04862230271100998,
                    "z": 0.032588519155979156
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.560445785522461,
                "transform": {
                    "location": {
                        "x": -64.25460815429688,
                        "y": 4294.64599609375,
                        "z": 372.6534729003906
                    },
                    "rotation": {
                        "roll": 0.0005703090573661029,
                        "pitch": 0.24735528230667114,
                        "yaw": 179.64456176757812
                    }
                },
                "velocity": {
                    "x": -8.560222625732422,
                    "y": 0.05147634446620941,
                    "z": 0.03428839519619942
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6764408946037292,
        "expert_target_speed": 5.725574428419197,
        "target_point": [
            19.832400078756887,
            -0.7514199238413658
        ],
        "target_point_next": [
            70.83220889247781,
            -0.8843090800256774
        ]
    },
    "285": {
        "acceleration": [
            1.1030387878417969,
            0.00858299434185028,
            -0.005237199366092682
        ],
        "angular_velocity": [
            -0.05368126183748245,
            -0.8099905252456665,
            3.091677188873291
        ],
        "forward_vector": [
            -0.9999613761901855,
            0.004528767894953489,
            0.007536101154983044
        ],
        "right_vector": [
            -0.004530168604105711,
            -0.9999897480010986,
            -0.00016878075257409364
        ],
        "location": [
            -91.90773010253906,
            4290.95947265625,
            372.7692565917969
        ],
        "rotation": [
            0.009670699015259743,
            0.43179088830947876,
            179.74050903320312
        ],
        "velocity": [
            -5.135371208190918,
            0.030771370977163315,
            0.021127652376890182
        ],
        "speed": 5.135463399070045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.942730903625488,
                "transform": {
                    "location": {
                        "x": -144.46359252929688,
                        "y": 4298.5546875,
                        "z": 372.97650146484375
                    },
                    "rotation": {
                        "roll": 0.002208178164437413,
                        "pitch": -0.21542415022850037,
                        "yaw": -0.050628650933504105
                    }
                },
                "velocity": {
                    "x": 11.942631721496582,
                    "y": -0.017130747437477112,
                    "z": -0.04547589644789696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085893630981445,
                "transform": {
                    "location": {
                        "x": -106.77944946289062,
                        "y": 4301.59716796875,
                        "z": 372.82928466796875
                    },
                    "rotation": {
                        "roll": 0.0002884029527194798,
                        "pitch": -0.22930993139743805,
                        "yaw": -0.3221740424633026
                    }
                },
                "velocity": {
                    "x": 8.085697174072266,
                    "y": -0.04560534283518791,
                    "z": -0.03300098329782486
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.010836601257324,
                "transform": {
                    "location": {
                        "x": -108.0028076171875,
                        "y": 4298.35498046875,
                        "z": 372.8349609375
                    },
                    "rotation": {
                        "roll": 0.0003486269561108202,
                        "pitch": -0.23635868728160858,
                        "yaw": -0.32843017578125
                    }
                },
                "velocity": {
                    "x": 8.010638236999512,
                    "y": -0.045939840376377106,
                    "z": -0.032591503113508224
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -21.18421745300293,
                        "y": 4301.02587890625,
                        "z": 372.4828796386719
                    },
                    "rotation": {
                        "roll": -5.211067688470905e-11,
                        "pitch": -0.24282687902450562,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -21.100311279296875,
                        "y": 4297.78564453125,
                        "z": 372.47650146484375
                    },
                    "rotation": {
                        "roll": -5.211067688470905e-11,
                        "pitch": -0.24282687902450562,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.474742889404297,
                "transform": {
                    "location": {
                        "x": -138.077880859375,
                        "y": 4301.7802734375,
                        "z": 372.95660400390625
                    },
                    "rotation": {
                        "roll": 0.012549608945846558,
                        "pitch": -0.22378431260585785,
                        "yaw": -0.28662109375
                    }
                },
                "velocity": {
                    "x": 13.47447681427002,
                    "y": -0.06640531122684479,
                    "z": -0.05255056917667389
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.052175521850586,
                "transform": {
                    "location": {
                        "x": -65.01483917236328,
                        "y": 4298.10107421875,
                        "z": 372.6529541015625
                    },
                    "rotation": {
                        "roll": -0.00021362297411542386,
                        "pitch": -0.2364201545715332,
                        "yaw": -0.34930419921875
                    }
                },
                "velocity": {
                    "x": 8.05197525024414,
                    "y": -0.04624095931649208,
                    "z": -0.03306156024336815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028030395507812,
                "transform": {
                    "location": {
                        "x": -65.4207763671875,
                        "y": 4301.353515625,
                        "z": 372.6997985839844
                    },
                    "rotation": {
                        "roll": 0.0001796209253370762,
                        "pitch": -0.23687778413295746,
                        "yaw": -0.321533203125
                    }
                },
                "velocity": {
                    "x": 8.027825355529785,
                    "y": -0.04672599211335182,
                    "z": -0.03338749706745148
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.944875717163086,
                "transform": {
                    "location": {
                        "x": -84.64593505859375,
                        "y": 4294.7666015625,
                        "z": 372.7335510253906
                    },
                    "rotation": {
                        "roll": 0.000943550025112927,
                        "pitch": 0.25049033761024475,
                        "yaw": 179.66079711914062
                    }
                },
                "velocity": {
                    "x": -7.944668292999268,
                    "y": 0.04700842872262001,
                    "z": 0.03289156034588814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01852035522461,
                "transform": {
                    "location": {
                        "x": -102.67991638183594,
                        "y": 4294.87353515625,
                        "z": 372.81353759765625
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.23568248748779297,
                        "yaw": 179.6335906982422
                    }
                },
                "velocity": {
                    "x": -8.018288612365723,
                    "y": 0.051294878125190735,
                    "z": 0.03281097486615181
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026389122009277,
                "transform": {
                    "location": {
                        "x": -123.51187133789062,
                        "y": 4294.994140625,
                        "z": 372.896240234375
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.23092184960842133,
                        "yaw": 179.62973022460938
                    }
                },
                "velocity": {
                    "x": -8.026167869567871,
                    "y": 0.04987339302897453,
                    "z": 0.03261590749025345
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.451683044433594,
                "transform": {
                    "location": {
                        "x": -66.37452697753906,
                        "y": 4294.658203125,
                        "z": 372.66229248046875
                    },
                    "rotation": {
                        "roll": 0.0005545023595914245,
                        "pitch": 0.2371373176574707,
                        "yaw": 179.6669464111328
                    }
                },
                "velocity": {
                    "x": -8.451461791992188,
                    "y": 0.05061383545398712,
                    "z": 0.034400101751089096
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6966286897659302,
        "expert_target_speed": 6.195954515284253,
        "target_point": [
            18.572043318768443,
            -0.7259626305891009
        ],
        "target_point_next": [
            69.57197678971204,
            -0.7962799346091973
        ]
    },
    "290": {
        "acceleration": [
            1.1473464965820312,
            0.03350503742694855,
            0.00046938657760620117
        ],
        "angular_velocity": [
            0.052371006458997726,
            -0.6179242730140686,
            -3.853353500366211
        ],
        "forward_vector": [
            -0.9999659061431885,
            0.006599209271371365,
            0.004962900187820196
        ],
        "right_vector": [
            -0.006600234657526016,
            -0.999978244304657,
            -0.00019022414926439524
        ],
        "location": [
            -93.1820297241211,
            4290.9677734375,
            372.77490234375
        ],
        "rotation": [
            0.010899174958467484,
            0.28435441851615906,
            179.62188720703125
        ],
        "velocity": [
            -5.037632465362549,
            0.03865448385477066,
            0.02140689827501774
        ],
        "speed": 5.03778076390754,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.097909927368164,
                "transform": {
                    "location": {
                        "x": -141.3356170654297,
                        "y": 4298.54736328125,
                        "z": 372.964599609375
                    },
                    "rotation": {
                        "roll": 0.0020843767561018467,
                        "pitch": -0.19356754422187805,
                        "yaw": -0.23580928146839142
                    }
                },
                "velocity": {
                    "x": 13.097715377807617,
                    "y": -0.051158931106328964,
                    "z": -0.04950115457177162
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05315113067627,
                "transform": {
                    "location": {
                        "x": -104.76194763183594,
                        "y": 4301.58544921875,
                        "z": 372.8211975097656
                    },
                    "rotation": {
                        "roll": 0.0013807745417580009,
                        "pitch": -0.22866788506507874,
                        "yaw": -0.32342529296875
                    }
                },
                "velocity": {
                    "x": 8.05295181274414,
                    "y": -0.045411232858896255,
                    "z": -0.03378926217556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038663864135742,
                "transform": {
                    "location": {
                        "x": -105.99757385253906,
                        "y": 4298.34326171875,
                        "z": 372.826904296875
                    },
                    "rotation": {
                        "roll": 0.002629492897540331,
                        "pitch": -0.2315092533826828,
                        "yaw": -0.337554931640625
                    }
                },
                "velocity": {
                    "x": 8.03844928741455,
                    "y": -0.04851875826716423,
                    "z": -0.03286636248230934
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -19.101015090942383,
                        "y": 4301.001953125,
                        "z": 372.47357177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.24630343914031982,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -19.017108917236328,
                        "y": 4297.7578125,
                        "z": 372.4692077636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.24630343914031982,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.877840995788574,
                "transform": {
                    "location": {
                        "x": -135.26710510253906,
                        "y": 4301.765625,
                        "z": 372.9451904296875
                    },
                    "rotation": {
                        "roll": 0.006085920613259077,
                        "pitch": -0.6152907013893127,
                        "yaw": -0.3427428901195526
                    }
                },
                "velocity": {
                    "x": 9.877603530883789,
                    "y": -0.05613211169838905,
                    "z": -0.03918243199586868
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050159454345703,
                "transform": {
                    "location": {
                        "x": -63.00148391723633,
                        "y": 4298.08935546875,
                        "z": 372.64459228515625
                    },
                    "rotation": {
                        "roll": 0.00031375771504826844,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3251037001609802
                    }
                },
                "velocity": {
                    "x": 8.049947738647461,
                    "y": -0.04781981185078621,
                    "z": -0.03350217267870903
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031050682067871,
                "transform": {
                    "location": {
                        "x": -63.412967681884766,
                        "y": 4301.34228515625,
                        "z": 372.6915283203125
                    },
                    "rotation": {
                        "roll": 0.0002781703951768577,
                        "pitch": -0.237034872174263,
                        "yaw": -0.34295654296875
                    }
                },
                "velocity": {
                    "x": 8.030847549438477,
                    "y": -0.046677593141794205,
                    "z": -0.03278288245201111
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.826216697692871,
                "transform": {
                    "location": {
                        "x": -86.6109390258789,
                        "y": 4294.77880859375,
                        "z": 372.74169921875
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.23545026779174805,
                        "yaw": 179.65911865234375
                    }
                },
                "velocity": {
                    "x": -7.826016902923584,
                    "y": 0.04514477029442787,
                    "z": 0.03299381956458092
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033823013305664,
                "transform": {
                    "location": {
                        "x": -104.68585968017578,
                        "y": 4294.884765625,
                        "z": 372.8215637207031
                    },
                    "rotation": {
                        "roll": -0.0023498530499637127,
                        "pitch": 0.23579861223697662,
                        "yaw": 179.64698791503906
                    }
                },
                "velocity": {
                    "x": -8.033601760864258,
                    "y": 0.04955286532640457,
                    "z": 0.03316373750567436
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025860786437988,
                "transform": {
                    "location": {
                        "x": -125.51773071289062,
                        "y": 4295.00634765625,
                        "z": 372.9040832519531
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": 0.23119506239891052,
                        "yaw": 179.65353393554688
                    }
                },
                "velocity": {
                    "x": -8.025634765625,
                    "y": 0.05052788555622101,
                    "z": 0.03281509503722191
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.654851913452148,
                "transform": {
                    "location": {
                        "x": -68.40773010253906,
                        "y": 4294.669921875,
                        "z": 372.6707763671875
                    },
                    "rotation": {
                        "roll": 0.0004637193342205137,
                        "pitch": 0.21839529275894165,
                        "yaw": 179.64427185058594
                    }
                },
                "velocity": {
                    "x": -7.654648780822754,
                    "y": 0.04578595981001854,
                    "z": 0.03183135762810707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6759041547775269,
        "expert_target_speed": 6.106052229326756,
        "target_point": [
            17.29917991189663,
            -0.6876174052672301
        ],
        "target_point_next": [
            68.29914965973171,
            -0.6523429977700163
        ]
    },
    "295": {
        "acceleration": [
            3.3780384063720703,
            -0.005242004990577698,
            -0.001805126667022705
        ],
        "angular_velocity": [
            0.007862353697419167,
            -0.941269040107727,
            -0.2869906723499298
        ],
        "forward_vector": [
            -0.999968945980072,
            0.007429418154060841,
            0.002633091527968645
        ],
        "right_vector": [
            -0.007429891731590033,
            -0.999972403049469,
            -0.00017011525051202625
        ],
        "location": [
            -94.4071044921875,
            4290.9775390625,
            372.7801818847656
        ],
        "rotation": [
            0.009746919386088848,
            0.15086521208286285,
            179.57432556152344
        ],
        "velocity": [
            -4.6195292472839355,
            0.04133449122309685,
            0.01812087930738926
        ],
        "speed": 4.619714169369828,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.651335716247559,
                "transform": {
                    "location": {
                        "x": -137.9559326171875,
                        "y": 4298.5322265625,
                        "z": 372.9517517089844
                    },
                    "rotation": {
                        "roll": 0.0009110427927225828,
                        "pitch": -0.20644928514957428,
                        "yaw": -0.3167724311351776
                    }
                },
                "velocity": {
                    "x": 13.65103816986084,
                    "y": -0.07272500544786453,
                    "z": -0.05317654088139534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080596923828125,
                "transform": {
                    "location": {
                        "x": -102.74569702148438,
                        "y": 4301.57373046875,
                        "z": 372.8131408691406
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": -0.22954899072647095,
                        "yaw": -0.3264465034008026
                    }
                },
                "velocity": {
                    "x": 8.080398559570312,
                    "y": -0.04613897576928139,
                    "z": -0.03291907534003258
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026407241821289,
                "transform": {
                    "location": {
                        "x": -103.98828125,
                        "y": 4298.3310546875,
                        "z": 372.81884765625
                    },
                    "rotation": {
                        "roll": 0.0006250959704630077,
                        "pitch": -0.2294670194387436,
                        "yaw": -0.3403930366039276
                    }
                },
                "velocity": {
                    "x": 8.026199340820312,
                    "y": -0.04771728813648224,
                    "z": -0.03251394256949425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -17.017812728881836,
                        "y": 4300.97509765625,
                        "z": 372.4642028808594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.24630343914031982,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -16.93390655517578,
                        "y": 4297.7265625,
                        "z": 372.46240234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.24630343914031982,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.675228118896484,
                "transform": {
                    "location": {
                        "x": -132.83897399902344,
                        "y": 4301.751953125,
                        "z": 372.9361267089844
                    },
                    "rotation": {
                        "roll": 0.003075849497690797,
                        "pitch": -0.3490021526813507,
                        "yaw": -0.3480834662914276
                    }
                },
                "velocity": {
                    "x": 9.674978256225586,
                    "y": -0.05854940414428711,
                    "z": -0.03758862242102623
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05085277557373,
                "transform": {
                    "location": {
                        "x": -60.98945236206055,
                        "y": 4298.078125,
                        "z": 372.63629150390625
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.23772472143173218,
                        "yaw": -0.357635498046875
                    }
                },
                "velocity": {
                    "x": 8.050642013549805,
                    "y": -0.04782074689865112,
                    "z": -0.033222492784261703
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02991008758545,
                "transform": {
                    "location": {
                        "x": -61.405155181884766,
                        "y": 4301.330078125,
                        "z": 372.6832275390625
                    },
                    "rotation": {
                        "roll": -0.00015258781786542386,
                        "pitch": -0.23748566210269928,
                        "yaw": -0.3134460747241974
                    }
                },
                "velocity": {
                    "x": 8.029711723327637,
                    "y": -0.04579571634531021,
                    "z": -0.03306533396244049
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.69240665435791,
                "transform": {
                    "location": {
                        "x": -88.67195129394531,
                        "y": 4294.79052734375,
                        "z": 372.7499084472656
                    },
                    "rotation": {
                        "roll": 0.0006411219364963472,
                        "pitch": 0.27749690413475037,
                        "yaw": 179.66502380371094
                    }
                },
                "velocity": {
                    "x": -8.692192077636719,
                    "y": 0.050805024802684784,
                    "z": 0.03383425623178482
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018633842468262,
                "transform": {
                    "location": {
                        "x": -106.69163513183594,
                        "y": 4294.89697265625,
                        "z": 372.82958984375
                    },
                    "rotation": {
                        "roll": -0.0027160642202943563,
                        "pitch": 0.23545026779174805,
                        "yaw": 179.6525421142578
                    }
                },
                "velocity": {
                    "x": -8.01841926574707,
                    "y": 0.04853564500808716,
                    "z": 0.03299804776906967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02627944946289,
                "transform": {
                    "location": {
                        "x": -127.52359008789062,
                        "y": 4295.01806640625,
                        "z": 372.9119873046875
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": 0.23073060810565948,
                        "yaw": 179.6303253173828
                    }
                },
                "velocity": {
                    "x": -8.026055335998535,
                    "y": 0.04993578791618347,
                    "z": 0.03329316899180412
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.387786865234375,
                "transform": {
                    "location": {
                        "x": -70.09796905517578,
                        "y": 4294.6806640625,
                        "z": 372.6780090332031
                    },
                    "rotation": {
                        "roll": 0.000601736013777554,
                        "pitch": 0.19687336683273315,
                        "yaw": 179.6998291015625
                    }
                },
                "velocity": {
                    "x": -6.387621879577637,
                    "y": 0.03758153319358826,
                    "z": 0.02644377574324608
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6851741671562195,
        "expert_target_speed": 5.718602122868058,
        "target_point": [
            16.074631281887267,
            -0.6725916265705999
        ],
        "target_point_next": [
            67.07455417156437,
            -0.5949784130925015
        ]
    },
    "300": {
        "acceleration": [
            3.422870635986328,
            -0.015583634376525879,
            -0.010549910366535187
        ],
        "angular_velocity": [
            -0.059434495866298676,
            -0.4631307125091553,
            -0.747681736946106
        ],
        "forward_vector": [
            -0.9999610185623169,
            0.008783613331615925,
            -0.0009417532128281891
        ],
        "right_vector": [
            -0.008783480152487755,
            -0.9999614357948303,
            -0.00014513908536173403
        ],
        "location": [
            -95.439453125,
            4290.98681640625,
            372.7850341796875
        ],
        "rotation": [
            0.0083158602938056,
            -0.05395849049091339,
            179.49673461914062
        ],
        "velocity": [
            -3.7043416500091553,
            0.039500411599874496,
            0.016249656677246094
        ],
        "speed": 3.704552245887364,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.944458961486816,
                "transform": {
                    "location": {
                        "x": -134.48350524902344,
                        "y": 4298.51318359375,
                        "z": 372.9383544921875
                    },
                    "rotation": {
                        "roll": 0.0005444255075417459,
                        "pitch": -0.2128901481628418,
                        "yaw": -0.3365173041820526
                    }
                },
                "velocity": {
                    "x": 13.94412899017334,
                    "y": -0.07988512516021729,
                    "z": -0.0530729666352272
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053313255310059,
                "transform": {
                    "location": {
                        "x": -100.7289810180664,
                        "y": 4301.56201171875,
                        "z": 372.8050231933594
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": -0.23126336932182312,
                        "yaw": -0.32849112153053284
                    }
                },
                "velocity": {
                    "x": 8.053109169006348,
                    "y": -0.04691178351640701,
                    "z": -0.032939232885837555
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033163070678711,
                "transform": {
                    "location": {
                        "x": -101.98163604736328,
                        "y": 4298.31982421875,
                        "z": 372.8108215332031
                    },
                    "rotation": {
                        "roll": 6.190545536810532e-05,
                        "pitch": -0.2334558516740799,
                        "yaw": -0.3403930366039276
                    }
                },
                "velocity": {
                    "x": 8.032952308654785,
                    "y": -0.047724802047014236,
                    "z": -0.033237967640161514
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11446,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -14.934609413146973,
                        "y": 4300.95751953125,
                        "z": 372.45513916015625
                    },
                    "rotation": {
                        "roll": -5.2110701170837714e-11,
                        "pitch": -0.24981415271759033,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11445,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -14.850703239440918,
                        "y": 4297.70654296875,
                        "z": 372.4543151855469
                    },
                    "rotation": {
                        "roll": -5.2110701170837714e-11,
                        "pitch": -0.24981415271759033,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 11.512890815734863,
                "transform": {
                    "location": {
                        "x": -130.17710876464844,
                        "y": 4301.73583984375,
                        "z": 372.9261779785156
                    },
                    "rotation": {
                        "roll": 0.00034917460288852453,
                        "pitch": -0.04364490509033203,
                        "yaw": -0.3294982612133026
                    }
                },
                "velocity": {
                    "x": 11.512605667114258,
                    "y": -0.06711070984601974,
                    "z": -0.04560170695185661
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050276756286621,
                "transform": {
                    "location": {
                        "x": -58.97640609741211,
                        "y": 4298.06591796875,
                        "z": 372.62799072265625
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.23745834827423096,
                        "yaw": -0.3171996772289276
                    }
                },
                "velocity": {
                    "x": 8.050085067749023,
                    "y": -0.04498996585607529,
                    "z": -0.03251450136303902
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03253173828125,
                "transform": {
                    "location": {
                        "x": -59.397342681884766,
                        "y": 4301.31884765625,
                        "z": 372.6749267578125
                    },
                    "rotation": {
                        "roll": 0.0006118741002865136,
                        "pitch": -0.2372739315032959,
                        "yaw": -0.347198486328125
                    }
                },
                "velocity": {
                    "x": 8.03232479095459,
                    "y": -0.04700088873505592,
                    "z": -0.0334165133535862
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.927561283111572,
                "transform": {
                    "location": {
                        "x": -90.77421569824219,
                        "y": 4294.80224609375,
                        "z": 372.7589111328125
                    },
                    "rotation": {
                        "roll": 0.0008277688175439835,
                        "pitch": 0.21154460310935974,
                        "yaw": 179.6617889404297
                    }
                },
                "velocity": {
                    "x": -7.9273529052734375,
                    "y": 0.046759504824876785,
                    "z": 0.033482570201158524
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033696174621582,
                "transform": {
                    "location": {
                        "x": -108.69757843017578,
                        "y": 4294.90869140625,
                        "z": 372.8376159667969
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.2358122617006302,
                        "yaw": 179.65370178222656
                    }
                },
                "velocity": {
                    "x": -8.03348159790039,
                    "y": 0.04857032373547554,
                    "z": 0.03292287886142731
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.025141716003418,
                "transform": {
                    "location": {
                        "x": -129.52944946289062,
                        "y": 4295.02978515625,
                        "z": 372.9198303222656
                    },
                    "rotation": {
                        "roll": -0.0016784662147983909,
                        "pitch": 0.23083989322185516,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -8.024924278259277,
                    "y": 0.04941749945282936,
                    "z": 0.032339468598365784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.742793560028076,
                "transform": {
                    "location": {
                        "x": -71.71945190429688,
                        "y": 4294.68994140625,
                        "z": 372.684326171875
                    },
                    "rotation": {
                        "roll": 0.0005028884042985737,
                        "pitch": 0.2392478585243225,
                        "yaw": 179.6688995361328
                    }
                },
                "velocity": {
                    "x": -6.742624282836914,
                    "y": 0.03994249179959297,
                    "z": 0.026235559955239296
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.651032567024231,
        "expert_target_speed": 4.850655970907141,
        "target_point": [
            15.04313708055654,
            -0.6506128237489018
        ],
        "target_point_next": [
            66.04290810058896,
            -0.5039347129782087
        ]
    },
    "305": {
        "acceleration": [
            2.9464149475097656,
            -0.01859016716480255,
            -0.00690096989274025
        ],
        "angular_velocity": [
            -0.02063879556953907,
            0.0033444359432905912,
            0.4703667163848877
        ],
        "forward_vector": [
            -0.9999490976333618,
            0.009933443740010262,
            -0.0017726410878822207
        ],
        "right_vector": [
            -0.009933271445333958,
            -0.999950647354126,
            -0.00010588284203549847
        ],
        "location": [
            -96.26070404052734,
            4290.99609375,
            372.78857421875
        ],
        "rotation": [
            0.006066649686545134,
            -0.1015649065375328,
            179.43084716796875
        ],
        "velocity": [
            -2.920860528945923,
            0.03593585267663002,
            0.013068714179098606
        ],
        "speed": 2.9210815830890193,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.513907432556152,
                "transform": {
                    "location": {
                        "x": -131.05516052246094,
                        "y": 4298.494140625,
                        "z": 372.9252014160156
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": -0.23215128481388092,
                        "yaw": -0.3417052924633026
                    }
                },
                "velocity": {
                    "x": 13.51356315612793,
                    "y": -0.0812361091375351,
                    "z": -0.05218714103102684
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08324909210205,
                "transform": {
                    "location": {
                        "x": -98.71147918701172,
                        "y": 4301.55029296875,
                        "z": 372.79681396484375
                    },
                    "rotation": {
                        "roll": 6.38123310636729e-05,
                        "pitch": -0.23187124729156494,
                        "yaw": -0.3313293755054474
                    }
                },
                "velocity": {
                    "x": 8.083040237426758,
                    "y": -0.047578658908605576,
                    "z": -0.03338748216629028
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.024290084838867,
                "transform": {
                    "location": {
                        "x": -99.97444915771484,
                        "y": 4298.30810546875,
                        "z": 372.8027648925781
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": -0.23309385776519775,
                        "yaw": -0.3363952934741974
                    }
                },
                "velocity": {
                    "x": 8.02408504486084,
                    "y": -0.047111447900533676,
                    "z": -0.032757170498371124
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.453046798706055,
                "transform": {
                    "location": {
                        "x": -127.14835357666016,
                        "y": 4301.71826171875,
                        "z": 372.91424560546875
                    },
                    "rotation": {
                        "roll": 0.0014712399570271373,
                        "pitch": -0.06661482900381088,
                        "yaw": -0.33062744140625
                    }
                },
                "velocity": {
                    "x": 12.452743530273438,
                    "y": -0.07198302447795868,
                    "z": -0.048732027411460876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050959587097168,
                "transform": {
                    "location": {
                        "x": -56.96366882324219,
                        "y": 4298.0546875,
                        "z": 372.61968994140625
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": -0.23715098202228546,
                        "yaw": -0.35626220703125
                    }
                },
                "velocity": {
                    "x": 8.050749778747559,
                    "y": -0.0476798377931118,
                    "z": -0.033133480697870255
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.027463912963867,
                "transform": {
                    "location": {
                        "x": -57.39023208618164,
                        "y": 4301.306640625,
                        "z": 372.6666564941406
                    },
                    "rotation": {
                        "roll": 0.0012063292087987065,
                        "pitch": -0.2381277084350586,
                        "yaw": -0.322296142578125
                    }
                },
                "velocity": {
                    "x": 8.027260780334473,
                    "y": -0.046770188957452774,
                    "z": -0.03273969888687134
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.697988510131836,
                "transform": {
                    "location": {
                        "x": -92.69445037841797,
                        "y": 4294.81396484375,
                        "z": 372.7667236328125
                    },
                    "rotation": {
                        "roll": 0.00042682792991399765,
                        "pitch": 0.2112167626619339,
                        "yaw": 179.65760803222656
                    }
                },
                "velocity": {
                    "x": -7.697786808013916,
                    "y": 0.046055544167757034,
                    "z": 0.03144494816660881
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.019103050231934,
                "transform": {
                    "location": {
                        "x": -110.70335388183594,
                        "y": 4294.92041015625,
                        "z": 372.84564208984375
                    },
                    "rotation": {
                        "roll": 0.00034367150510661304,
                        "pitch": 0.2350199669599533,
                        "yaw": 179.65377807617188
                    }
                },
                "velocity": {
                    "x": -8.018891334533691,
                    "y": 0.048456352204084396,
                    "z": 0.03222029656171799
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026288032531738,
                "transform": {
                    "location": {
                        "x": -131.53530883789062,
                        "y": 4295.0419921875,
                        "z": 372.92767333984375
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.2317483127117157,
                        "yaw": 179.6274871826172
                    }
                },
                "velocity": {
                    "x": -8.026063919067383,
                    "y": 0.05025694891810417,
                    "z": 0.03270692750811577
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.642767429351807,
                "transform": {
                    "location": {
                        "x": -73.52882385253906,
                        "y": 4294.70068359375,
                        "z": 372.69146728515625
                    },
                    "rotation": {
                        "roll": 0.000590548210311681,
                        "pitch": 0.265830934047699,
                        "yaw": 179.67811584472656
                    }
                },
                "velocity": {
                    "x": -7.642573833465576,
                    "y": 0.04485633224248886,
                    "z": 0.03084416314959526
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6602050065994263,
        "expert_target_speed": 4.090473134240763,
        "target_point": [
            14.222572868408108,
            -0.6321916582788043
        ],
        "target_point_next": [
            65.22214145811077,
            -0.42685722830507
        ]
    },
    "310": {
        "acceleration": [
            1.380782127380371,
            0.1030847430229187,
            -0.007549840956926346
        ],
        "angular_velocity": [
            0.012726723216474056,
            0.44215264916419983,
            -1.6425460577011108
        ],
        "forward_vector": [
            -0.9999280571937561,
            0.011952260509133339,
            -0.001021027215756476
        ],
        "right_vector": [
            -0.011951997876167297,
            -0.9999285340309143,
            -0.0002626780769787729
        ],
        "location": [
            -96.90929412841797,
            4291.005859375,
            372.79107666015625
        ],
        "rotation": [
            0.015050354413688183,
            -0.058500565588474274,
            179.31517028808594
        ],
        "velocity": [
            -2.3633170127868652,
            0.0467376708984375,
            0.009359550662338734
        ],
        "speed": 2.3637791167553797,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.603134155273438,
                "transform": {
                    "location": {
                        "x": -127.7625732421875,
                        "y": 4298.47412109375,
                        "z": 372.9123840332031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2445685714483261,
                        "yaw": -0.354766845703125
                    }
                },
                "velocity": {
                    "x": 12.602792739868164,
                    "y": -0.07747625559568405,
                    "z": -0.05103699862957001
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050154685974121,
                "transform": {
                    "location": {
                        "x": -96.69515228271484,
                        "y": 4301.53857421875,
                        "z": 372.7886962890625
                    },
                    "rotation": {
                        "roll": 0.000677958712913096,
                        "pitch": -0.23168683052062988,
                        "yaw": -0.3338623344898224
                    }
                },
                "velocity": {
                    "x": 8.049951553344727,
                    "y": -0.04686864838004112,
                    "z": -0.032789722084999084
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037985801696777,
                "transform": {
                    "location": {
                        "x": -97.96656036376953,
                        "y": 4298.29638671875,
                        "z": 372.7946472167969
                    },
                    "rotation": {
                        "roll": -0.0003356932429596782,
                        "pitch": -0.2334558516740799,
                        "yaw": -0.3382263481616974
                    }
                },
                "velocity": {
                    "x": 8.037769317626953,
                    "y": -0.048735905438661575,
                    "z": -0.03341640904545784
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 13.391334533691406,
                "transform": {
                    "location": {
                        "x": -123.91171264648438,
                        "y": 4301.69970703125,
                        "z": 372.9015197753906
                    },
                    "rotation": {
                        "roll": -0.0005798338679596782,
                        "pitch": -0.06406033784151077,
                        "yaw": -0.3280639350414276
                    }
                },
                "velocity": {
                    "x": 13.391002655029297,
                    "y": -0.07815646380186081,
                    "z": -0.0528675876557827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050609588623047,
                "transform": {
                    "location": {
                        "x": -54.9514045715332,
                        "y": 4298.04248046875,
                        "z": 372.6113586425781
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.2372739315032959,
                        "yaw": -0.3241271376609802
                    }
                },
                "velocity": {
                    "x": 8.050398826599121,
                    "y": -0.04789306968450546,
                    "z": -0.03299733251333237
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032110214233398,
                "transform": {
                    "location": {
                        "x": -55.3828125,
                        "y": 4301.29541015625,
                        "z": 372.6583251953125
                    },
                    "rotation": {
                        "roll": 0.0001698676496744156,
                        "pitch": -0.23715098202228546,
                        "yaw": -0.3522949516773224
                    }
                },
                "velocity": {
                    "x": 8.031896591186523,
                    "y": -0.04774628207087517,
                    "z": -0.03391551598906517
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.520129203796387,
                "transform": {
                    "location": {
                        "x": -94.7191390991211,
                        "y": 4294.82568359375,
                        "z": 372.7745361328125
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.27307096123695374,
                        "yaw": 179.6570587158203
                    }
                },
                "velocity": {
                    "x": -8.51991081237793,
                    "y": 0.0509919673204422,
                    "z": 0.03343534469604492
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033742904663086,
                "transform": {
                    "location": {
                        "x": -112.70921325683594,
                        "y": 4294.93212890625,
                        "z": 372.85357666015625
                    },
                    "rotation": {
                        "roll": 0.00018827719031833112,
                        "pitch": 0.23350366950035095,
                        "yaw": 179.65708923339844
                    }
                },
                "velocity": {
                    "x": -8.03353214263916,
                    "y": 0.04807629436254501,
                    "z": 0.032825518399477005
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11260,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.358260154724121,
                "transform": {
                    "location": {
                        "x": -133.4796905517578,
                        "y": 4295.0537109375,
                        "z": 372.9358825683594
                    },
                    "rotation": {
                        "roll": 4.3967145757051185e-05,
                        "pitch": 0.06711343675851822,
                        "yaw": 179.65419006347656
                    }
                },
                "velocity": {
                    "x": -7.358065128326416,
                    "y": 0.04526142030954361,
                    "z": 0.02869267389178276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.923529624938965,
                "transform": {
                    "location": {
                        "x": -75.56632995605469,
                        "y": 4294.712890625,
                        "z": 372.69970703125
                    },
                    "rotation": {
                        "roll": 0.00043930456740781665,
                        "pitch": 0.2802768051624298,
                        "yaw": 179.70785522460938
                    }
                },
                "velocity": {
                    "x": -8.923306465148926,
                    "y": 0.051658615469932556,
                    "z": 0.03617402911186218
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6629999279975891,
        "expert_target_speed": 3.54287894742642,
        "target_point": [
            13.575159751657221,
            -0.6014631197904853
        ],
        "target_point_next": [
            64.5742098471714,
            -0.2931646943111673
        ]
    },
    "315": {
        "acceleration": [
            -1.1480283737182617,
            0.09977340698242188,
            0.010982509702444077
        ],
        "angular_velocity": [
            0.06730199605226517,
            0.8796983361244202,
            -0.550994873046875
        ],
        "forward_vector": [
            -0.9998540282249451,
            0.01695038378238678,
            0.0021671040449291468
        ],
        "right_vector": [
            -0.016951603814959526,
            -0.999856173992157,
            -0.0005465142312459648
        ],
        "location": [
            -97.4964828491211,
            4291.02099609375,
            372.7928466796875
        ],
        "rotation": [
            0.031313031911849976,
            0.12416600435972214,
            179.0287628173828
        ],
        "velocity": [
            -2.4218928813934326,
            0.07755418866872787,
            0.010192422196269035
        ],
        "speed": 2.4231342887104397,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.405750274658203,
                "transform": {
                    "location": {
                        "x": -124.67546844482422,
                        "y": 4298.455078125,
                        "z": 372.9000549316406
                    },
                    "rotation": {
                        "roll": 0.00029446097323670983,
                        "pitch": -0.23392030596733093,
                        "yaw": -0.3560180366039276
                    }
                },
                "velocity": {
                    "x": 12.405415534973145,
                    "y": -0.07689160108566284,
                    "z": -0.04887928068637848
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084603309631348,
                "transform": {
                    "location": {
                        "x": -94.67788696289062,
                        "y": 4301.52685546875,
                        "z": 372.7805480957031
                    },
                    "rotation": {
                        "roll": 8.181124576367438e-05,
                        "pitch": -0.23221275210380554,
                        "yaw": -0.3341675102710724
                    }
                },
                "velocity": {
                    "x": 8.08439826965332,
                    "y": -0.0471348911523819,
                    "z": -0.03308217599987984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020539283752441,
                "transform": {
                    "location": {
                        "x": -95.95882415771484,
                        "y": 4298.2841796875,
                        "z": 372.7864685058594
                    },
                    "rotation": {
                        "roll": 0.0008652316173538566,
                        "pitch": -0.2352590262889862,
                        "yaw": -0.3403624892234802
                    }
                },
                "velocity": {
                    "x": 8.020331382751465,
                    "y": -0.04756322130560875,
                    "z": -0.03272303566336632
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9406507015228271,
                "transform": {
                    "location": {
                        "x": -164.41851806640625,
                        "y": 4301.8388671875,
                        "z": 373.1446838378906
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": -0.1966206431388855,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": -0.006556104402989149,
                    "y": -7.752364763291553e-05,
                    "z": -1.940639615058899
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 12.231935501098633,
                "transform": {
                    "location": {
                        "x": -120.69671630859375,
                        "y": 4301.68115234375,
                        "z": 372.8885192871094
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.3211076557636261,
                        "yaw": -0.3359679877758026
                    }
                },
                "velocity": {
                    "x": 12.231633186340332,
                    "y": -0.0710468590259552,
                    "z": -0.04849674552679062
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050931930541992,
                "transform": {
                    "location": {
                        "x": -52.93812561035156,
                        "y": 4298.03125,
                        "z": 372.6029968261719
                    },
                    "rotation": {
                        "roll": 0.0004138603981118649,
                        "pitch": -0.23806622624397278,
                        "yaw": -0.362335205078125
                    }
                },
                "velocity": {
                    "x": 8.050722122192383,
                    "y": -0.048153094947338104,
                    "z": -0.03258085995912552
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030229568481445,
                "transform": {
                    "location": {
                        "x": -53.375,
                        "y": 4301.283203125,
                        "z": 372.6500244140625
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.3222351372241974
                    }
                },
                "velocity": {
                    "x": 8.030022621154785,
                    "y": -0.04718305543065071,
                    "z": -0.03301727771759033
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.22897720336914,
                "transform": {
                    "location": {
                        "x": -96.8140640258789,
                        "y": 4294.83837890625,
                        "z": 372.78326416015625
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": 0.22735649347305298,
                        "yaw": 179.65875244140625
                    }
                },
                "velocity": {
                    "x": -8.228774070739746,
                    "y": 0.04743441566824913,
                    "z": 0.03316774219274521
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018425941467285,
                "transform": {
                    "location": {
                        "x": -114.71499633789062,
                        "y": 4294.94384765625,
                        "z": 372.86151123046875
                    },
                    "rotation": {
                        "roll": 0.0001621781411813572,
                        "pitch": 0.2323971688747406,
                        "yaw": 179.65731811523438
                    }
                },
                "velocity": {
                    "x": -8.018216133117676,
                    "y": 0.04793669283390045,
                    "z": 0.032756052911281586
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4137768745422363,
                "transform": {
                    "location": {
                        "x": -59.41179656982422,
                        "y": 4294.71826171875,
                        "z": 373.0262145996094
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": 0.23659774661064148,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -2.36548113822937,
                    "y": 0.013980887830257416,
                    "z": -0.48023131489753723
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.990301132202148,
                "transform": {
                    "location": {
                        "x": -77.85601043701172,
                        "y": 4294.7265625,
                        "z": 372.7094421386719
                    },
                    "rotation": {
                        "roll": 7.252329669427127e-05,
                        "pitch": 0.24997125566005707,
                        "yaw": 179.7105712890625
                    }
                },
                "velocity": {
                    "x": -8.990078926086426,
                    "y": 0.051431410014629364,
                    "z": 0.03664374351501465
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6297239661216736,
        "expert_target_speed": 3.601200331654088,
        "target_point": [
            12.990635730359006,
            -0.5284164128014646
        ],
        "target_point_next": [
            63.98750759465416,
            0.03480523147319836
        ]
    },
    "320": {
        "acceleration": [
            -1.7024993896484375,
            -0.06312593817710876,
            -0.004095640033483505
        ],
        "angular_velocity": [
            -0.1594780534505844,
            0.5314629673957825,
            -1.2775882482528687
        ],
        "forward_vector": [
            -0.9997513294219971,
            0.021628672257065773,
            0.005424472503364086
        ],
        "right_vector": [
            -0.02162938378751278,
            -0.9997660517692566,
            -7.22986223991029e-05
        ],
        "location": [
            -98.15531158447266,
            4291.03955078125,
            372.79486083984375
        ],
        "rotation": [
            0.0041424669325351715,
            0.3108009099960327,
            178.76065063476562
        ],
        "velocity": [
            -2.8321070671081543,
            0.07733534276485443,
            0.009980831295251846
        ],
        "speed": 2.833162754732687,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.136787414550781,
                "transform": {
                    "location": {
                        "x": -121.55960845947266,
                        "y": 4298.43505859375,
                        "z": 372.8879089355469
                    },
                    "rotation": {
                        "roll": 0.0008520790142938495,
                        "pitch": -0.23047105967998505,
                        "yaw": -0.35211181640625
                    }
                },
                "velocity": {
                    "x": 12.136462211608887,
                    "y": -0.07433319091796875,
                    "z": -0.04857759550213814
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05022144317627,
                "transform": {
                    "location": {
                        "x": -92.6610107421875,
                        "y": 4301.51513671875,
                        "z": 372.7723693847656
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": -0.23202835023403168,
                        "yaw": -0.334381103515625
                    }
                },
                "velocity": {
                    "x": 8.050016403198242,
                    "y": -0.046969927847385406,
                    "z": -0.03313296660780907
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039632797241211,
                "transform": {
                    "location": {
                        "x": -93.95093536376953,
                        "y": 4298.27294921875,
                        "z": 372.7783508300781
                    },
                    "rotation": {
                        "roll": 0.0007916987524367869,
                        "pitch": -0.23370173573493958,
                        "yaw": -0.3423156142234802
                    }
                },
                "velocity": {
                    "x": 8.039412498474121,
                    "y": -0.04926536977291107,
                    "z": -0.033303044736385345
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -164.4375,
                        "y": 4298.5888671875,
                        "z": 373.2476501464844
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.09031359851360321,
                "transform": {
                    "location": {
                        "x": -164.4191436767578,
                        "y": 4301.8388671875,
                        "z": 372.9508972167969
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": -0.20131981372833252,
                        "yaw": -0.338714599609375
                    }
                },
                "velocity": {
                    "x": 0.0003129572723992169,
                    "y": -5.766587491962127e-06,
                    "z": 0.09031305462121964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.56684398651123,
                "transform": {
                    "location": {
                        "x": -117.82140350341797,
                        "y": 4301.6640625,
                        "z": 372.87689208984375
                    },
                    "rotation": {
                        "roll": 0.0005559471901506186,
                        "pitch": -0.4592960476875305,
                        "yaw": -0.3463439643383026
                    }
                },
                "velocity": {
                    "x": 10.56657600402832,
                    "y": -0.06302569806575775,
                    "z": -0.04113999754190445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.051032066345215,
                "transform": {
                    "location": {
                        "x": -50.92562484741211,
                        "y": 4298.01904296875,
                        "z": 372.5947265625
                    },
                    "rotation": {
                        "roll": -0.0017700196476653218,
                        "pitch": -0.23834626376628876,
                        "yaw": -0.334381103515625
                    }
                },
                "velocity": {
                    "x": 8.05081844329834,
                    "y": -0.04788734391331673,
                    "z": -0.03398217260837555
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028778076171875,
                "transform": {
                    "location": {
                        "x": -51.3671875,
                        "y": 4301.27197265625,
                        "z": 372.64166259765625
                    },
                    "rotation": {
                        "roll": 0.0013263542205095291,
                        "pitch": -0.2386399656534195,
                        "yaw": -0.3530883491039276
                    }
                },
                "velocity": {
                    "x": 8.028547286987305,
                    "y": -0.050213057547807693,
                    "z": -0.034377120435237885
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.417582511901855,
                "transform": {
                    "location": {
                        "x": -98.89374542236328,
                        "y": 4294.85009765625,
                        "z": 372.7915954589844
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.24320253729820251,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": -8.417370796203613,
                    "y": 0.049755048006772995,
                    "z": 0.03301475569605827
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033849716186523,
                "transform": {
                    "location": {
                        "x": -116.72093200683594,
                        "y": 4294.95556640625,
                        "z": 372.86944580078125
                    },
                    "rotation": {
                        "roll": -0.00045776349725201726,
                        "pitch": 0.23319630324840546,
                        "yaw": 179.65744018554688
                    }
                },
                "velocity": {
                    "x": -8.033638954162598,
                    "y": 0.04806124046444893,
                    "z": 0.032963868230581284
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.664353847503662,
                "transform": {
                    "location": {
                        "x": -59.99976348876953,
                        "y": 4294.720703125,
                        "z": 372.62921142578125
                    },
                    "rotation": {
                        "roll": -0.00201416015625,
                        "pitch": 0.23516340553760529,
                        "yaw": 179.68704223632812
                    }
                },
                "velocity": {
                    "x": -2.2471933364868164,
                    "y": -0.012998840771615505,
                    "z": -1.431339979171753
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.291096687316895,
                "transform": {
                    "location": {
                        "x": -79.98968505859375,
                        "y": 4294.73876953125,
                        "z": 372.7185974121094
                    },
                    "rotation": {
                        "roll": 0.0004288123163860291,
                        "pitch": 0.21532852947711945,
                        "yaw": 179.65625
                    }
                },
                "velocity": {
                    "x": -8.290878295898438,
                    "y": 0.04898172616958618,
                    "z": 0.0350075326859951
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5962971448898315,
        "expert_target_speed": 4.003788533369027,
        "target_point": [
            12.333890144320032,
            -0.463324216272748
        ],
        "target_point_next": [
            63.32756830407346,
            0.3385151089064864
        ]
    },
    "325": {
        "acceleration": [
            -1.2788057327270508,
            0.166703462600708,
            0.02599639818072319
        ],
        "angular_velocity": [
            0.0898534283041954,
            0.07786844670772552,
            -0.1529027372598648
        ],
        "forward_vector": [
            -0.9996898770332336,
            0.024037787690758705,
            0.006508303806185722
        ],
        "right_vector": [
            -0.024038970470428467,
            -0.9997110366821289,
            -0.00010357271094108
        ],
        "location": [
            -98.91194915771484,
            4291.06005859375,
            372.7975158691406
        ],
        "rotation": [
            0.0059344046749174595,
            0.37290099263191223,
            178.62257385253906
        ],
        "velocity": [
            -3.182417631149292,
            0.09687795490026474,
            0.01338814664632082
        ],
        "speed": 3.18389185073795,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.323885917663574,
                "transform": {
                    "location": {
                        "x": -118.66460418701172,
                        "y": 4298.41748046875,
                        "z": 372.87652587890625
                    },
                    "rotation": {
                        "roll": -0.00021362311963457614,
                        "pitch": -0.245360866189003,
                        "yaw": -0.3396606147289276
                    }
                },
                "velocity": {
                    "x": 11.32359790802002,
                    "y": -0.0672963336110115,
                    "z": -0.0445895791053772
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083993911743164,
                "transform": {
                    "location": {
                        "x": -90.64421844482422,
                        "y": 4301.50341796875,
                        "z": 372.7641296386719
                    },
                    "rotation": {
                        "roll": 0.0002548732445575297,
                        "pitch": -0.23355147242546082,
                        "yaw": -0.3342284858226776
                    }
                },
                "velocity": {
                    "x": 8.083788871765137,
                    "y": -0.04714919626712799,
                    "z": -0.0330970361828804
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.020977973937988,
                "transform": {
                    "location": {
                        "x": -91.94319915771484,
                        "y": 4298.26123046875,
                        "z": 372.7701721191406
                    },
                    "rotation": {
                        "roll": 0.0017382538644596934,
                        "pitch": -0.23630404472351074,
                        "yaw": -0.3446044623851776
                    }
                },
                "velocity": {
                    "x": 8.020764350891113,
                    "y": -0.04814544692635536,
                    "z": -0.03322773799300194
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12623189389705658,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 372.98272705078125
                    },
                    "rotation": {
                        "roll": 2.3973601855686866e-05,
                        "pitch": -0.19848528504371643,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": 0.00044246934703551233,
                    "y": -9.680553921498358e-05,
                    "z": 0.12623107433319092
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3496575355529785,
                "transform": {
                    "location": {
                        "x": -164.4110870361328,
                        "y": 4301.8388671875,
                        "z": 373.03558349609375
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": -0.18401893973350525,
                        "yaw": -0.3389587104320526
                    }
                },
                "velocity": {
                    "x": 0.09717116504907608,
                    "y": 0.0009602103964425623,
                    "z": 0.3358827829360962
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.276668548583984,
                "transform": {
                    "location": {
                        "x": -115.26492309570312,
                        "y": 4301.6484375,
                        "z": 372.8670349121094
                    },
                    "rotation": {
                        "roll": 0.0014447319554165006,
                        "pitch": -0.32476863265037537,
                        "yaw": -0.351593017578125
                    }
                },
                "velocity": {
                    "x": 10.276397705078125,
                    "y": -0.0628054141998291,
                    "z": -0.040349915623664856
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05131721496582,
                "transform": {
                    "location": {
                        "x": -48.91218566894531,
                        "y": 4298.0078125,
                        "z": 372.5862731933594
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.23810037970542908,
                        "yaw": -0.3680419623851776
                    }
                },
                "velocity": {
                    "x": 8.05109691619873,
                    "y": -0.049603499472141266,
                    "z": -0.03294529765844345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031698226928711,
                "transform": {
                    "location": {
                        "x": -49.359375,
                        "y": 4301.259765625,
                        "z": 372.63330078125
                    },
                    "rotation": {
                        "roll": 0.0015761236427351832,
                        "pitch": -0.2384282350540161,
                        "yaw": -0.3309020698070526
                    }
                },
                "velocity": {
                    "x": 8.031486511230469,
                    "y": -0.04788943752646446,
                    "z": -0.03328599035739899
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.7169599533081055,
                "transform": {
                    "location": {
                        "x": -100.90945434570312,
                        "y": 4294.86181640625,
                        "z": 372.8000183105469
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.19898389279842377,
                        "yaw": 179.65496826171875
                    }
                },
                "velocity": {
                    "x": -7.7167534828186035,
                    "y": 0.04654055833816528,
                    "z": 0.03190853074193001
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018842697143555,
                "transform": {
                    "location": {
                        "x": -118.72671508789062,
                        "y": 4294.96728515625,
                        "z": 372.87738037109375
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.2322264164686203,
                        "yaw": 179.65740966796875
                    }
                },
                "velocity": {
                    "x": -8.018631935119629,
                    "y": 0.04799818992614746,
                    "z": 0.032628677785396576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.318962812423706,
                "transform": {
                    "location": {
                        "x": -60.57218551635742,
                        "y": 4294.7177734375,
                        "z": 372.5951843261719
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": 0.23633819818496704,
                        "yaw": 179.9310302734375
                    }
                },
                "velocity": {
                    "x": -2.303677558898926,
                    "y": -0.024831125512719154,
                    "z": 0.26465436816215515
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.068835258483887,
                "transform": {
                    "location": {
                        "x": -81.89984130859375,
                        "y": 4294.75,
                        "z": 372.7265625
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.19704411923885345,
                        "yaw": 179.71678161621094
                    }
                },
                "velocity": {
                    "x": -7.068653583526611,
                    "y": 0.04144429415464401,
                    "z": 0.02916502021253109
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6017151474952698,
        "expert_target_speed": 4.345889224774058,
        "target_point": [
            11.57805900221214,
            -0.43128511367750766
        ],
        "target_point_next": [
            62.569656703052836,
            0.493443213743882
        ]
    },
    "330": {
        "acceleration": [
            -1.3934898376464844,
            0.12866973876953125,
            0.009273160248994827
        ],
        "angular_velocity": [
            -0.007939797826111317,
            0.04390919581055641,
            -1.763869285583496
        ],
        "forward_vector": [
            -0.9995547533035278,
            0.029068397358059883,
            0.006728717125952244
        ],
        "right_vector": [
            -0.029071785509586334,
            -0.9995772838592529,
            -0.00040626211557537317
        ],
        "location": [
            -99.75179290771484,
            4291.0888671875,
            372.8009948730469
        ],
        "rotation": [
            0.023277631029486656,
            0.3855299949645996,
            178.334228515625
        ],
        "velocity": [
            -3.5264902114868164,
            0.13408619165420532,
            0.01395074836909771
        ],
        "speed": 3.5290384410636078,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.799596786499023,
                "transform": {
                    "location": {
                        "x": -115.787109375,
                        "y": 4298.39990234375,
                        "z": 372.8648681640625
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": -0.21993890404701233,
                        "yaw": -0.3339538276195526
                    }
                },
                "velocity": {
                    "x": 11.799304962158203,
                    "y": -0.06894612312316895,
                    "z": -0.046075932681560516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051539421081543,
                "transform": {
                    "location": {
                        "x": -88.62710571289062,
                        "y": 4301.49169921875,
                        "z": 372.75592041015625
                    },
                    "rotation": {
                        "roll": 9.774408681550995e-05,
                        "pitch": -0.2347126007080078,
                        "yaw": -0.3342284858226776
                    }
                },
                "velocity": {
                    "x": 8.051334381103516,
                    "y": -0.04697747901082039,
                    "z": -0.033097732812166214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03812313079834,
                "transform": {
                    "location": {
                        "x": -89.93531036376953,
                        "y": 4298.24951171875,
                        "z": 372.76202392578125
                    },
                    "rotation": {
                        "roll": 0.00030297739431262016,
                        "pitch": -0.23718513548374176,
                        "yaw": -0.3445434272289276
                    }
                },
                "velocity": {
                    "x": 8.037911415100098,
                    "y": -0.04837687313556671,
                    "z": -0.03254589065909386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.13742107152938843,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 373.0350646972656
                    },
                    "rotation": {
                        "roll": -0.0001525879488326609,
                        "pitch": -0.19848528504371643,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0004805723438039422,
                    "y": 7.47662634239532e-05,
                    "z": 0.13742020726203918
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8207035064697266,
                "transform": {
                    "location": {
                        "x": -164.26014709472656,
                        "y": 4301.8388671875,
                        "z": 373.0721130371094
                    },
                    "rotation": {
                        "roll": -0.005096435546875,
                        "pitch": -0.042606718838214874,
                        "yaw": -0.2962341010570526
                    }
                },
                "velocity": {
                    "x": 0.8206908702850342,
                    "y": 0.003758191131055355,
                    "z": 0.0025729273911565542
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.997594833374023,
                "transform": {
                    "location": {
                        "x": -112.5863265991211,
                        "y": 4301.6328125,
                        "z": 372.8566589355469
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.15918438136577606,
                        "yaw": -0.3404236137866974
                    }
                },
                "velocity": {
                    "x": 10.997312545776367,
                    "y": -0.06579863280057907,
                    "z": -0.04334796965122223
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050999641418457,
                "transform": {
                    "location": {
                        "x": -46.899295806884766,
                        "y": 4297.99560546875,
                        "z": 372.5780029296875
                    },
                    "rotation": {
                        "roll": -0.0012512204702943563,
                        "pitch": -0.2384009063243866,
                        "yaw": -0.33935546875
                    }
                },
                "velocity": {
                    "x": 8.050775527954102,
                    "y": -0.050073426216840744,
                    "z": -0.033019039779901505
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029973030090332,
                "transform": {
                    "location": {
                        "x": -47.3515625,
                        "y": 4301.24853515625,
                        "z": 372.62493896484375
                    },
                    "rotation": {
                        "roll": 0.00015646715473849326,
                        "pitch": -0.23907709121704102,
                        "yaw": -0.36053457856178284
                    }
                },
                "velocity": {
                    "x": 8.029746055603027,
                    "y": -0.050185736268758774,
                    "z": -0.033529169857501984
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.5727691650390625,
                "transform": {
                    "location": {
                        "x": -102.79218292236328,
                        "y": 4294.87353515625,
                        "z": 372.8075256347656
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.21635305881500244,
                        "yaw": 179.65444946289062
                    }
                },
                "velocity": {
                    "x": -7.572573184967041,
                    "y": 0.04573136195540428,
                    "z": 0.02969158999621868
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033407211303711,
                "transform": {
                    "location": {
                        "x": -120.73265075683594,
                        "y": 4294.978515625,
                        "z": 372.88531494140625
                    },
                    "rotation": {
                        "roll": 0.0012628192780539393,
                        "pitch": 0.23301872611045837,
                        "yaw": 179.64974975585938
                    }
                },
                "velocity": {
                    "x": -8.03318977355957,
                    "y": 0.049112286418676376,
                    "z": 0.03289468586444855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.247133493423462,
                "transform": {
                    "location": {
                        "x": -61.14046859741211,
                        "y": 4294.71435546875,
                        "z": 372.6370544433594
                    },
                    "rotation": {
                        "roll": 0.0029342856723815203,
                        "pitch": 0.23678214848041534,
                        "yaw": -179.9100341796875
                    }
                },
                "velocity": {
                    "x": -2.245985984802246,
                    "y": -0.00857012253254652,
                    "z": 0.0712893083691597
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.295900344848633,
                "transform": {
                    "location": {
                        "x": -83.67296600341797,
                        "y": 4294.759765625,
                        "z": 372.73358154296875
                    },
                    "rotation": {
                        "roll": 0.0008605301845818758,
                        "pitch": 0.232192263007164,
                        "yaw": 179.7064208984375
                    }
                },
                "velocity": {
                    "x": -7.295711994171143,
                    "y": 0.0427558608353138,
                    "z": 0.03030562400817871
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5400739312171936,
        "expert_target_speed": 4.680011595547483,
        "target_point": [
            10.73975656341187,
            -0.36862956832846333
        ],
        "target_point_next": [
            61.726054835408746,
            0.8127031887245049
        ]
    },
    "335": {
        "acceleration": [
            -1.1946535110473633,
            0.25496482849121094,
            0.0006048195064067841
        ],
        "angular_velocity": [
            0.05066598579287529,
            -0.04648757725954056,
            -1.317790150642395
        ],
        "forward_vector": [
            -0.9993643164634705,
            0.03500683233141899,
            0.006735154427587986
        ],
        "right_vector": [
            -0.03501157462596893,
            -0.999386727809906,
            -0.0005877707153558731
        ],
        "location": [
            -100.67694854736328,
            4291.1259765625,
            372.80474853515625
        ],
        "rotation": [
            0.03367754817008972,
            0.3858988285064697,
            177.99380493164062
        ],
        "velocity": [
            -3.8523647785186768,
            0.17804278433322906,
            0.01423470489680767
        ],
        "speed": 3.8564768403070153,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.686826705932617,
                "transform": {
                    "location": {
                        "x": -112.79905700683594,
                        "y": 4298.38232421875,
                        "z": 372.8532409667969
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": -0.22741113603115082,
                        "yaw": -0.3330383002758026
                    }
                },
                "velocity": {
                    "x": 11.686532020568848,
                    "y": -0.06804799288511276,
                    "z": -0.04773861914873123
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083704948425293,
                "transform": {
                    "location": {
                        "x": -86.61015319824219,
                        "y": 4301.47998046875,
                        "z": 372.7476806640625
                    },
                    "rotation": {
                        "roll": 0.001170958043076098,
                        "pitch": -0.2346784621477127,
                        "yaw": -0.334442138671875
                    }
                },
                "velocity": {
                    "x": 8.083499908447266,
                    "y": -0.047120608389377594,
                    "z": -0.03319111093878746
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022720336914062,
                "transform": {
                    "location": {
                        "x": -87.92757415771484,
                        "y": 4298.23779296875,
                        "z": 372.7538146972656
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.23715098202228546,
                        "yaw": -0.344573974609375
                    }
                },
                "velocity": {
                    "x": 8.02250862121582,
                    "y": -0.048276256769895554,
                    "z": -0.03282644972205162
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.578652262687683,
                "transform": {
                    "location": {
                        "x": -164.31961059570312,
                        "y": 4298.5888671875,
                        "z": 373.0478515625
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.16717569530010223,
                        "yaw": -0.3077391982078552
                    }
                },
                "velocity": {
                    "x": 1.5786328315734863,
                    "y": 0.007614254951477051,
                    "z": 0.0018090057419613004
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6493585109710693,
                "transform": {
                    "location": {
                        "x": -163.97328186035156,
                        "y": 4301.83984375,
                        "z": 373.0589294433594
                    },
                    "rotation": {
                        "roll": -0.004730224143713713,
                        "pitch": -0.027525661513209343,
                        "yaw": -0.2093811184167862
                    }
                },
                "velocity": {
                    "x": 1.6481297016143799,
                    "y": 0.007494086865335703,
                    "z": -0.06321056187152863
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.544268608093262,
                "transform": {
                    "location": {
                        "x": -109.91812133789062,
                        "y": 4301.6171875,
                        "z": 372.8459167480469
                    },
                    "rotation": {
                        "roll": -0.00039672834100201726,
                        "pitch": -0.2582152783870697,
                        "yaw": -0.3424987494945526
                    }
                },
                "velocity": {
                    "x": 10.544001579284668,
                    "y": -0.06295666843652725,
                    "z": -0.040779195725917816
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.050530433654785,
                "transform": {
                    "location": {
                        "x": -44.887264251708984,
                        "y": 4297.98388671875,
                        "z": 372.5695495605469
                    },
                    "rotation": {
                        "roll": -5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.373565673828125
                    }
                },
                "velocity": {
                    "x": 8.050307273864746,
                    "y": -0.04985072463750839,
                    "z": -0.0332048274576664
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.028472900390625,
                "transform": {
                    "location": {
                        "x": -45.34375,
                        "y": 4301.23681640625,
                        "z": 372.6166076660156
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.23940494656562805,
                        "yaw": -0.3362121284008026
                    }
                },
                "velocity": {
                    "x": 8.0282564163208,
                    "y": -0.04871700331568718,
                    "z": -0.03320423513650894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.933843612670898,
                "transform": {
                    "location": {
                        "x": -104.75031280517578,
                        "y": 4294.88525390625,
                        "z": 372.8150634765625
                    },
                    "rotation": {
                        "roll": 7.546886627096683e-05,
                        "pitch": 0.24314789474010468,
                        "yaw": 179.65432739257812
                    }
                },
                "velocity": {
                    "x": -7.933635234832764,
                    "y": 0.04787459224462509,
                    "z": 0.03178194910287857
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018900871276855,
                "transform": {
                    "location": {
                        "x": -122.73843383789062,
                        "y": 4294.99072265625,
                        "z": 372.8931884765625
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": 0.23061449825763702,
                        "yaw": 179.64920043945312
                    }
                },
                "velocity": {
                    "x": -8.018683433532715,
                    "y": 0.04908980429172516,
                    "z": 0.032667532563209534
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0141239166259766,
                "transform": {
                    "location": {
                        "x": -61.80398178100586,
                        "y": 4294.712890625,
                        "z": 372.6440124511719
                    },
                    "rotation": {
                        "roll": 0.0019443111959844828,
                        "pitch": 0.25646674633026123,
                        "yaw": -179.88198852539062
                    }
                },
                "velocity": {
                    "x": -3.0140910148620605,
                    "y": -0.009054758585989475,
                    "z": 0.010795659385621548
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.890872478485107,
                "transform": {
                    "location": {
                        "x": -85.59780883789062,
                        "y": 4294.77099609375,
                        "z": 372.74114990234375
                    },
                    "rotation": {
                        "roll": 0.0004942110390402377,
                        "pitch": 0.2545679807662964,
                        "yaw": 179.6774444580078
                    }
                },
                "velocity": {
                    "x": -7.89066743850708,
                    "y": 0.04668610543012619,
                    "z": 0.032459381967782974
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5039286613464355,
        "expert_target_speed": 4.994346824312561,
        "target_point": [
            9.8158696400238,
            -0.3001099455232889
        ],
        "target_point_next": [
            60.79424857701506,
            1.1841540203681555
        ]
    },
    "340": {
        "acceleration": [
            0.14005661010742188,
            0.18573075532913208,
            -0.0011274218559265137
        ],
        "angular_velocity": [
            0.007560213562101126,
            -0.4041881859302521,
            -2.5594065189361572
        ],
        "forward_vector": [
            -0.9990239143371582,
            0.04375234618782997,
            0.006076894234865904
        ],
        "right_vector": [
            -0.04375835880637169,
            -0.9990417957305908,
            -0.0008598107961006463
        ],
        "location": [
            -101.66828155517578,
            4291.17626953125,
            372.80877685546875
        ],
        "rotation": [
            0.04926444590091705,
            0.3481825292110443,
            177.49232482910156
        ],
        "velocity": [
            -4.015592098236084,
            0.23044458031654358,
            0.015507983975112438
        ],
        "speed": 4.022198976183717,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.489181518554688,
                "transform": {
                    "location": {
                        "x": -109.93101501464844,
                        "y": 4298.36572265625,
                        "z": 372.841796875
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -0.23303237557411194,
                        "yaw": -0.3299560546875
                    }
                },
                "velocity": {
                    "x": 11.488903999328613,
                    "y": -0.06618506461381912,
                    "z": -0.0447666235268116
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051202774047852,
                "transform": {
                    "location": {
                        "x": -84.59351348876953,
                        "y": 4301.46826171875,
                        "z": 372.7393798828125
                    },
                    "rotation": {
                        "roll": 0.00033250433625653386,
                        "pitch": -0.23477408289909363,
                        "yaw": -0.3342284858226776
                    }
                },
                "velocity": {
                    "x": 8.050996780395508,
                    "y": -0.04696221649646759,
                    "z": -0.03331607207655907
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0371732711792,
                "transform": {
                    "location": {
                        "x": -85.91968536376953,
                        "y": 4298.22607421875,
                        "z": 372.7455749511719
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.23690509796142578,
                        "yaw": -0.3444824516773224
                    }
                },
                "velocity": {
                    "x": 8.036959648132324,
                    "y": -0.04834931343793869,
                    "z": -0.03328691050410271
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.827787399291992,
                "transform": {
                    "location": {
                        "x": -163.7379608154297,
                        "y": 4298.59033203125,
                        "z": 373.0455017089844
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": -0.16388355195522308,
                        "yaw": -0.141510009765625
                    }
                },
                "velocity": {
                    "x": 2.8277151584625244,
                    "y": 0.014763499610126019,
                    "z": -0.013821735046803951
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.9870827198028564,
                "transform": {
                    "location": {
                        "x": -163.40077209472656,
                        "y": 4301.841796875,
                        "z": 373.0486145019531
                    },
                    "rotation": {
                        "roll": -0.007781981956213713,
                        "pitch": 0.09819762408733368,
                        "yaw": -0.079620361328125
                    }
                },
                "velocity": {
                    "x": 2.987011432647705,
                    "y": 0.014456912875175476,
                    "z": -0.014735602773725986
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.443873405456543,
                "transform": {
                    "location": {
                        "x": -107.3984375,
                        "y": 4301.60205078125,
                        "z": 372.8357238769531
                    },
                    "rotation": {
                        "roll": 0.0006137379677966237,
                        "pitch": -0.3691990375518799,
                        "yaw": -0.3447265326976776
                    }
                },
                "velocity": {
                    "x": 9.443629264831543,
                    "y": -0.05641220137476921,
                    "z": -0.037823259830474854
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05277156829834,
                "transform": {
                    "location": {
                        "x": -42.87429428100586,
                        "y": 4297.97119140625,
                        "z": 372.5611877441406
                    },
                    "rotation": {
                        "roll": 0.00021245759853627533,
                        "pitch": -0.2390497773885727,
                        "yaw": -0.34368896484375
                    }
                },
                "velocity": {
                    "x": 8.052550315856934,
                    "y": -0.04933500289916992,
                    "z": -0.03362991288304329
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031495094299316,
                "transform": {
                    "location": {
                        "x": -43.3359375,
                        "y": 4301.22509765625,
                        "z": 372.6082763671875
                    },
                    "rotation": {
                        "roll": 0.0003969291574321687,
                        "pitch": -0.238803893327713,
                        "yaw": -0.3704528212547302
                    }
                },
                "velocity": {
                    "x": 8.031262397766113,
                    "y": -0.05157174915075302,
                    "z": -0.03296392410993576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.755236625671387,
                "transform": {
                    "location": {
                        "x": -106.69804382324219,
                        "y": 4294.89697265625,
                        "z": 372.822998046875
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": 0.22610656917095184,
                        "yaw": 179.65431213378906
                    }
                },
                "velocity": {
                    "x": -7.755030155181885,
                    "y": 0.04675395041704178,
                    "z": 0.031932439655065536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033889770507812,
                "transform": {
                    "location": {
                        "x": -124.74436950683594,
                        "y": 4295.00244140625,
                        "z": 372.9010925292969
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.2317483127117157,
                        "yaw": 179.64923095703125
                    }
                },
                "velocity": {
                    "x": -8.033669471740723,
                    "y": 0.04916537553071976,
                    "z": 0.033509787172079086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.7352592945098877,
                "transform": {
                    "location": {
                        "x": -62.64835739135742,
                        "y": 4294.7109375,
                        "z": 372.6466979980469
                    },
                    "rotation": {
                        "roll": 0.0019220351241528988,
                        "pitch": 0.2613230347633362,
                        "yaw": -179.86129760742188
                    }
                },
                "velocity": {
                    "x": -3.7352218627929688,
                    "y": -0.011003047227859497,
                    "z": 0.012569178827106953
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.195796966552734,
                "transform": {
                    "location": {
                        "x": -87.77491760253906,
                        "y": 4294.7841796875,
                        "z": 372.75
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.2756117880344391,
                        "yaw": 179.67367553710938
                    }
                },
                "velocity": {
                    "x": -9.195558547973633,
                    "y": 0.05471687763929367,
                    "z": 0.03722522780299187
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.43373340368270874,
        "expert_target_speed": 5.152098660950259,
        "target_point": [
            8.82553615500754,
            -0.2073166378123521
        ],
        "target_point_next": [
            59.788971915792004,
            1.7230651949641878
        ]
    },
    "345": {
        "acceleration": [
            3.057522773742676,
            -0.025433003902435303,
            -0.0026605650782585144
        ],
        "angular_velocity": [
            -0.08417564630508423,
            -0.9516924619674683,
            -1.685103178024292
        ],
        "forward_vector": [
            -0.9985573887825012,
            0.053650856018066406,
            0.0021784286946058273
        ],
        "right_vector": [
            -0.0536528043448925,
            -0.998559296131134,
            -0.0008465074934065342
        ],
        "location": [
            -102.5999984741211,
            4291.234375,
            372.8133544921875
        ],
        "rotation": [
            0.048501431941986084,
            0.12481486797332764,
            176.92454528808594
        ],
        "velocity": [
            -3.3922648429870605,
            0.23944801092147827,
            0.01332450844347477
        ],
        "speed": 3.400705237873503,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.503055572509766,
                "transform": {
                    "location": {
                        "x": -107.16561889648438,
                        "y": 4298.35009765625,
                        "z": 372.8309631347656
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.24844811856746674,
                        "yaw": -0.3289794921875
                    }
                },
                "velocity": {
                    "x": 10.502792358398438,
                    "y": -0.06039327010512352,
                    "z": -0.043456271290779114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08497428894043,
                "transform": {
                    "location": {
                        "x": -82.57601165771484,
                        "y": 4301.45654296875,
                        "z": 372.7311096191406
                    },
                    "rotation": {
                        "roll": 0.0002688457607291639,
                        "pitch": -0.2346169799566269,
                        "yaw": -0.3341369330883026
                    }
                },
                "velocity": {
                    "x": 8.084765434265137,
                    "y": -0.047110628336668015,
                    "z": -0.03400656208395958
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022459983825684,
                "transform": {
                    "location": {
                        "x": -83.91194915771484,
                        "y": 4298.21435546875,
                        "z": 372.73736572265625
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.237034872174263,
                        "yaw": -0.34521484375
                    }
                },
                "velocity": {
                    "x": 8.022247314453125,
                    "y": -0.04821556434035301,
                    "z": -0.03286612033843994
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6224639415740967,
                "transform": {
                    "location": {
                        "x": -162.92593383789062,
                        "y": 4298.59326171875,
                        "z": 373.0423278808594
                    },
                    "rotation": {
                        "roll": -0.0014648436335846782,
                        "pitch": -0.1769428700208664,
                        "yaw": 0.03128218278288841
                    }
                },
                "velocity": {
                    "x": 3.622382164001465,
                    "y": 0.020393621176481247,
                    "z": -0.013326444663107395
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0037970542907715,
                "transform": {
                    "location": {
                        "x": -162.39210510253906,
                        "y": 4301.845703125,
                        "z": 373.04541015625
                    },
                    "rotation": {
                        "roll": -0.00979614071547985,
                        "pitch": 0.25908273458480835,
                        "yaw": 0.07821787148714066
                    }
                },
                "velocity": {
                    "x": 5.003718376159668,
                    "y": 0.027018828317523003,
                    "z": -0.007581691723316908
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.300814628601074,
                "transform": {
                    "location": {
                        "x": -105.21796417236328,
                        "y": 4301.58837890625,
                        "z": 372.8269348144531
                    },
                    "rotation": {
                        "roll": 0.001095654210075736,
                        "pitch": -0.4026122987270355,
                        "yaw": -0.3531188666820526
                    }
                },
                "velocity": {
                    "x": 8.300592422485352,
                    "y": -0.050803955644369125,
                    "z": -0.033265307545661926
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0503568649292,
                "transform": {
                    "location": {
                        "x": -40.86093521118164,
                        "y": 4297.95947265625,
                        "z": 372.5528564453125
                    },
                    "rotation": {
                        "roll": 0.0016329248901456594,
                        "pitch": -0.2395278960466385,
                        "yaw": -0.3701476454734802
                    }
                },
                "velocity": {
                    "x": 8.050131797790527,
                    "y": -0.04948299378156662,
                    "z": -0.0343017652630806
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030155181884766,
                "transform": {
                    "location": {
                        "x": -41.328125,
                        "y": 4301.212890625,
                        "z": 372.5998840332031
                    },
                    "rotation": {
                        "roll": 0.00034013137337751687,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.3451232612133026
                    }
                },
                "velocity": {
                    "x": 8.029928207397461,
                    "y": -0.05022480711340904,
                    "z": -0.0336163267493248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.25413990020752,
                "transform": {
                    "location": {
                        "x": -108.71460723876953,
                        "y": 4294.90869140625,
                        "z": 372.8309326171875
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.2516241669654846,
                        "yaw": 179.65444946289062
                    }
                },
                "velocity": {
                    "x": -8.253925323486328,
                    "y": 0.04977742210030556,
                    "z": 0.032636843621730804
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018662452697754,
                "transform": {
                    "location": {
                        "x": -126.75015258789062,
                        "y": 4295.01416015625,
                        "z": 372.908935546875
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": 0.23069645464420319,
                        "yaw": 179.6491241455078
                    }
                },
                "velocity": {
                    "x": -8.018445014953613,
                    "y": 0.04914289340376854,
                    "z": 0.03265006095170975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.632591247558594,
                "transform": {
                    "location": {
                        "x": -63.69578170776367,
                        "y": 4294.70751953125,
                        "z": 372.65081787109375
                    },
                    "rotation": {
                        "roll": 0.002697907155379653,
                        "pitch": 0.2655099332332611,
                        "yaw": -179.84678649902344
                    }
                },
                "velocity": {
                    "x": -4.6325364112854,
                    "y": -0.014154649339616299,
                    "z": 0.01757269911468029
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.409974098205566,
                "transform": {
                    "location": {
                        "x": -89.98179626464844,
                        "y": 4294.7978515625,
                        "z": 372.7594299316406
                    },
                    "rotation": {
                        "roll": 0.0003027445636689663,
                        "pitch": 0.22060826420783997,
                        "yaw": 179.68521118164062
                    }
                },
                "velocity": {
                    "x": -8.409754753112793,
                    "y": 0.04914652183651924,
                    "z": 0.03573966771364212
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3708134889602661,
        "expert_target_speed": 4.554763866624546,
        "target_point": [
            7.893664792073282,
            -0.11181568921919577
        ],
        "target_point_next": [
            58.83546919289898,
            2.323491879022259
        ]
    },
    "350": {
        "acceleration": [
            2.761363983154297,
            -0.21888017654418945,
            -0.016744043678045273
        ],
        "angular_velocity": [
            -0.23312953114509583,
            -0.2812676429748535,
            -2.304265022277832
        ],
        "forward_vector": [
            -0.9980519413948059,
            0.062387365847826004,
            -0.0003962516493629664
        ],
        "right_vector": [
            -0.06238723173737526,
            -0.9980519413948059,
            -0.00034343439619988203
        ],
        "location": [
            -103.34992218017578,
            4291.28857421875,
            372.81689453125
        ],
        "rotation": [
            0.01967734284698963,
            -0.022703547030687332,
            176.4231414794922
        ],
        "velocity": [
            -2.662482500076294,
            0.20634722709655762,
            0.011427382938563824
        ],
        "speed": 2.670466671078849,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.615921020507812,
                "transform": {
                    "location": {
                        "x": -104.6898422241211,
                        "y": 4298.3359375,
                        "z": 372.8209533691406
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": -0.25014883279800415,
                        "yaw": -0.3288879096508026
                    }
                },
                "velocity": {
                    "x": 9.61568546295166,
                    "y": -0.05523699149489403,
                    "z": -0.03842012211680412
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.050395011901855,
                "transform": {
                    "location": {
                        "x": -80.55937194824219,
                        "y": 4301.44482421875,
                        "z": 372.7228088378906
                    },
                    "rotation": {
                        "roll": 1.4435066077567171e-05,
                        "pitch": -0.23605132102966309,
                        "yaw": -0.3421325087547302
                    }
                },
                "velocity": {
                    "x": 8.050174713134766,
                    "y": -0.04924418404698372,
                    "z": -0.0334952250123024
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03814697265625,
                "transform": {
                    "location": {
                        "x": -81.90406036376953,
                        "y": 4298.20263671875,
                        "z": 372.7291259765625
                    },
                    "rotation": {
                        "roll": 3.935740460292436e-05,
                        "pitch": -0.23772472143173218,
                        "yaw": -0.34808349609375
                    }
                },
                "velocity": {
                    "x": 8.037928581237793,
                    "y": -0.04884692654013634,
                    "z": -0.03336450830101967
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.376542568206787,
                "transform": {
                    "location": {
                        "x": -161.921630859375,
                        "y": 4298.59814453125,
                        "z": 373.038818359375
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": -0.17986619472503662,
                        "yaw": 0.16999509930610657
                    }
                },
                "velocity": {
                    "x": 4.37644100189209,
                    "y": 0.026480896398425102,
                    "z": -0.013672742992639542
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.8162360191345215,
                "transform": {
                    "location": {
                        "x": -161.04429626464844,
                        "y": 4301.85205078125,
                        "z": 373.04425048828125
                    },
                    "rotation": {
                        "roll": -0.007690429221838713,
                        "pitch": 0.0357423797249794,
                        "yaw": 0.24085552990436554
                    }
                },
                "velocity": {
                    "x": 5.8160905838012695,
                    "y": 0.03671755641698837,
                    "z": -0.018598146736621857
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.817203521728516,
                "transform": {
                    "location": {
                        "x": -103.09898376464844,
                        "y": 4301.57568359375,
                        "z": 372.8186950683594
                    },
                    "rotation": {
                        "roll": -0.00012207039981149137,
                        "pitch": -0.21105965971946716,
                        "yaw": -0.3468627333641052
                    }
                },
                "velocity": {
                    "x": 8.816972732543945,
                    "y": -0.05349123850464821,
                    "z": -0.03484230861067772
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.051702499389648,
                "transform": {
                    "location": {
                        "x": -38.84882736206055,
                        "y": 4297.947265625,
                        "z": 372.54443359375
                    },
                    "rotation": {
                        "roll": 0.001399470493197441,
                        "pitch": -0.2390497773885727,
                        "yaw": -0.3324279189109802
                    }
                },
                "velocity": {
                    "x": 8.051486015319824,
                    "y": -0.04919850081205368,
                    "z": -0.03263618052005768
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030235290527344,
                "transform": {
                    "location": {
                        "x": -39.3203125,
                        "y": 4301.201171875,
                        "z": 372.5915222167969
                    },
                    "rotation": {
                        "roll": 8.364130917470902e-05,
                        "pitch": -0.23916588723659515,
                        "yaw": -0.3698729872703552
                    }
                },
                "velocity": {
                    "x": 8.030011177062988,
                    "y": -0.049862489104270935,
                    "z": -0.033323854207992554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.945863246917725,
                "transform": {
                    "location": {
                        "x": -110.74171447753906,
                        "y": 4294.92041015625,
                        "z": 372.8392028808594
                    },
                    "rotation": {
                        "roll": 0.00012803537538275123,
                        "pitch": 0.22219286859035492,
                        "yaw": 179.6582794189453
                    }
                },
                "velocity": {
                    "x": -7.945655822753906,
                    "y": 0.04740845039486885,
                    "z": 0.032445553690195084
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033599853515625,
                "transform": {
                    "location": {
                        "x": -128.75608825683594,
                        "y": 4295.025390625,
                        "z": 372.9167785644531
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.23066914081573486,
                        "yaw": 179.64927673339844
                    }
                },
                "velocity": {
                    "x": -8.033381462097168,
                    "y": 0.049253273755311966,
                    "z": 0.03290386125445366
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.232692718505859,
                "transform": {
                    "location": {
                        "x": -64.96468353271484,
                        "y": 4294.70361328125,
                        "z": 372.6563720703125
                    },
                    "rotation": {
                        "roll": 0.002367062494158745,
                        "pitch": 0.260715126991272,
                        "yaw": -179.84982299804688
                    }
                },
                "velocity": {
                    "x": -5.23262357711792,
                    "y": -0.014905186370015144,
                    "z": 0.02234455943107605
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.358316421508789,
                "transform": {
                    "location": {
                        "x": -92.0621109008789,
                        "y": 4294.80908203125,
                        "z": 372.7679748535156
                    },
                    "rotation": {
                        "roll": -0.0007019041804596782,
                        "pitch": 0.22602461278438568,
                        "yaw": 179.6558074951172
                    }
                },
                "velocity": {
                    "x": -8.358098983764648,
                    "y": 0.04980836808681488,
                    "z": 0.033963508903980255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.29389816522598267,
        "expert_target_speed": 3.842229831607445,
        "target_point": [
            58.06103981249649,
            2.8455687388181685
        ],
        "target_point_next": [
            62.40398878861579,
            3.091111560175457
        ]
    },
    "355": {
        "acceleration": [
            2.3871755599975586,
            -0.15521883964538574,
            0.004675686359405518
        ],
        "angular_velocity": [
            0.014419768936932087,
            0.01765228994190693,
            -0.02260301634669304
        ],
        "forward_vector": [
            -0.9977285861968994,
            0.06735669821500778,
            -0.0008537767571397126
        ],
        "right_vector": [
            -0.06735675781965256,
            -0.9977289438247681,
            4.474107481655665e-05
        ],
        "location": [
            -103.93022918701172,
            4291.3330078125,
            372.81927490234375
        ],
        "rotation": [
            -0.0025634756311774254,
            -0.04891781136393547,
            176.1378173828125
        ],
        "velocity": [
            -2.021282196044922,
            0.16328833997249603,
            0.009232397191226482
        ],
        "speed": 2.0278670562981085,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.040125846862793,
                "transform": {
                    "location": {
                        "x": -102.2445297241211,
                        "y": 4298.322265625,
                        "z": 372.8110046386719
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.22497275471687317,
                        "yaw": -0.335784912109375
                    }
                },
                "velocity": {
                    "x": 10.039875030517578,
                    "y": -0.05880407616496086,
                    "z": -0.03972640261054039
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085182189941406,
                "transform": {
                    "location": {
                        "x": -78.54210662841797,
                        "y": 4301.43310546875,
                        "z": 372.7144775390625
                    },
                    "rotation": {
                        "roll": 0.0006248726276680827,
                        "pitch": -0.23605132102966309,
                        "yaw": -0.3462829291820526
                    }
                },
                "velocity": {
                    "x": 8.084966659545898,
                    "y": -0.04878021776676178,
                    "z": -0.03327807039022446
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02221393585205,
                "transform": {
                    "location": {
                        "x": -79.89640808105469,
                        "y": 4298.19091796875,
                        "z": 372.72088623046875
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.23851701617240906,
                        "yaw": -0.34490966796875
                    }
                },
                "velocity": {
                    "x": 8.021998405456543,
                    "y": -0.048223111778497696,
                    "z": -0.03356967493891716
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.165585517883301,
                "transform": {
                    "location": {
                        "x": -160.7266387939453,
                        "y": 4298.6044921875,
                        "z": 373.0350341796875
                    },
                    "rotation": {
                        "roll": -0.0034790034405887127,
                        "pitch": -0.17923098802566528,
                        "yaw": 0.2681403160095215
                    }
                },
                "velocity": {
                    "x": 5.1654582023620605,
                    "y": 0.03288733959197998,
                    "z": -0.015297374688088894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.6603498458862305,
                "transform": {
                    "location": {
                        "x": -159.33984375,
                        "y": 4301.859375,
                        "z": 373.0369873046875
                    },
                    "rotation": {
                        "roll": 0.023274287581443787,
                        "pitch": 0.17064543068408966,
                        "yaw": -0.0513610802590847
                    }
                },
                "velocity": {
                    "x": 7.660294532775879,
                    "y": 0.007298312149941921,
                    "z": -0.02816414274275303
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.971907615661621,
                "transform": {
                    "location": {
                        "x": -100.74757385253906,
                        "y": 4301.56201171875,
                        "z": 372.8094482421875
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.08764497935771942,
                        "yaw": -0.3359985053539276
                    }
                },
                "velocity": {
                    "x": 9.971658706665039,
                    "y": -0.05887579172849655,
                    "z": -0.03882979601621628
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.051714897155762,
                "transform": {
                    "location": {
                        "x": -36.83515548706055,
                        "y": 4297.93603515625,
                        "z": 372.5360412597656
                    },
                    "rotation": {
                        "roll": 0.0006212554289959371,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.3611144423484802
                    }
                },
                "velocity": {
                    "x": 8.051501274108887,
                    "y": -0.04838619753718376,
                    "z": -0.0329793244600296
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.029650688171387,
                "transform": {
                    "location": {
                        "x": -37.3125,
                        "y": 4301.1884765625,
                        "z": 372.5831604003906
                    },
                    "rotation": {
                        "roll": 0.00040339032420888543,
                        "pitch": -0.2395961880683899,
                        "yaw": -0.3464965522289276
                    }
                },
                "velocity": {
                    "x": 8.029425621032715,
                    "y": -0.050169095396995544,
                    "z": -0.03309548646211624
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.060332298278809,
                "transform": {
                    "location": {
                        "x": -112.73343658447266,
                        "y": 4294.93212890625,
                        "z": 372.84710693359375
                    },
                    "rotation": {
                        "roll": 0.000651099078822881,
                        "pitch": 0.22894109785556793,
                        "yaw": 179.65850830078125
                    }
                },
                "velocity": {
                    "x": -8.060117721557617,
                    "y": 0.048005979508161545,
                    "z": 0.03400126472115517
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018672943115234,
                "transform": {
                    "location": {
                        "x": -130.76187133789062,
                        "y": 4295.03759765625,
                        "z": 372.9246520996094
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": 0.2311335951089859,
                        "yaw": 179.6492462158203
                    }
                },
                "velocity": {
                    "x": -8.018454551696777,
                    "y": 0.04907890781760216,
                    "z": 0.03306758031249046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.93884801864624,
                "transform": {
                    "location": {
                        "x": -66.33726501464844,
                        "y": 4294.69970703125,
                        "z": 372.66204833984375
                    },
                    "rotation": {
                        "roll": 0.0024406611919403076,
                        "pitch": 0.2554149031639099,
                        "yaw": -179.87030029296875
                    }
                },
                "velocity": {
                    "x": -5.93880033493042,
                    "y": -0.006835555657744408,
                    "z": 0.022846469655632973
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.630857467651367,
                "transform": {
                    "location": {
                        "x": -94.1981201171875,
                        "y": 4294.82177734375,
                        "z": 372.77642822265625
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.2406207174062729,
                        "yaw": 179.66844177246094
                    }
                },
                "velocity": {
                    "x": -8.63063907623291,
                    "y": 0.05172646790742874,
                    "z": 0.03312971070408821
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.247146874666214,
        "expert_target_speed": 3.2083470100378317,
        "target_point": [
            57.46416669299068,
            3.139926502526492
        ],
        "target_point_next": [
            61.80583899427089,
            3.407094454556808
        ]
    },
    "360": {
        "acceleration": [
            1.7142248153686523,
            -0.11968731880187988,
            -0.028116414323449135
        ],
        "angular_velocity": [
            -0.02291044406592846,
            0.20516133308410645,
            -1.9082576036453247
        ],
        "forward_vector": [
            -0.9974491596221924,
            0.07137937098741531,
            -0.0003771781921386719
        ],
        "right_vector": [
            -0.07137944549322128,
            -0.9974492192268372,
            0.00017310543626081198
        ],
        "location": [
            -104.3656997680664,
            4291.3681640625,
            372.821044921875
        ],
        "rotation": [
            -0.009918211959302425,
            -0.021610718220472336,
            175.9067840576172
        ],
        "velocity": [
            -1.5090670585632324,
            0.128884419798851,
            0.005441551096737385
        ],
        "speed": 1.5145608541447162,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.466809272766113,
                "transform": {
                    "location": {
                        "x": -99.76632690429688,
                        "y": 4298.30810546875,
                        "z": 372.8011779785156
                    },
                    "rotation": {
                        "roll": -0.0003356934175826609,
                        "pitch": -0.24069584906101227,
                        "yaw": -0.3365478515625
                    }
                },
                "velocity": {
                    "x": 9.46656608581543,
                    "y": -0.05558384209871292,
                    "z": -0.038865089416503906
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.048755645751953,
                "transform": {
                    "location": {
                        "x": -76.52554321289062,
                        "y": 4301.421875,
                        "z": 372.7062072753906
                    },
                    "rotation": {
                        "roll": -0.0005798338097520173,
                        "pitch": -0.23650895059108734,
                        "yaw": -0.348846435546875
                    }
                },
                "velocity": {
                    "x": 8.048538208007812,
                    "y": -0.04906344413757324,
                    "z": -0.032966498285532
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.038029670715332,
                "transform": {
                    "location": {
                        "x": -77.88851165771484,
                        "y": 4298.17919921875,
                        "z": 372.7126159667969
                    },
                    "rotation": {
                        "roll": -0.0016784664476290345,
                        "pitch": -0.23800475895404816,
                        "yaw": -0.34405517578125
                    }
                },
                "velocity": {
                    "x": 8.03781509399414,
                    "y": -0.0483759306371212,
                    "z": -0.03337732329964638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.697438716888428,
                "transform": {
                    "location": {
                        "x": -159.3915557861328,
                        "y": 4298.60888671875,
                        "z": 373.0304260253906
                    },
                    "rotation": {
                        "roll": -0.0015869141789153218,
                        "pitch": -0.18337690830230713,
                        "yaw": 0.1791250854730606
                    }
                },
                "velocity": {
                    "x": 5.697405815124512,
                    "y": 0.005465678405016661,
                    "z": -0.018477458506822586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.941071510314941,
                "transform": {
                    "location": {
                        "x": -157.3171844482422,
                        "y": 4301.85986328125,
                        "z": 373.0299072265625
                    },
                    "rotation": {
                        "roll": 0.009622324258089066,
                        "pitch": 0.12429577857255936,
                        "yaw": -0.091278076171875
                    }
                },
                "velocity": {
                    "x": 8.941014289855957,
                    "y": -0.004199666436761618,
                    "z": -0.031794074922800064
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 10.127793312072754,
                "transform": {
                    "location": {
                        "x": -98.17218780517578,
                        "y": 4301.54638671875,
                        "z": 372.7989501953125
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.1824001967906952,
                        "yaw": -0.3320617377758026
                    }
                },
                "velocity": {
                    "x": 10.127541542053223,
                    "y": -0.05876652151346207,
                    "z": -0.04054640233516693
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05041790008545,
                "transform": {
                    "location": {
                        "x": -34.823204040527344,
                        "y": 4297.923828125,
                        "z": 372.5276184082031
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": -0.2402040809392929,
                        "yaw": -0.3316650688648224
                    }
                },
                "velocity": {
                    "x": 8.050200462341309,
                    "y": -0.04884582385420799,
                    "z": -0.03340134024620056
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.030904769897461,
                "transform": {
                    "location": {
                        "x": -35.3046875,
                        "y": 4301.17724609375,
                        "z": 372.57476806640625
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.3742065131664276
                    }
                },
                "velocity": {
                    "x": 8.030679702758789,
                    "y": -0.05048885568976402,
                    "z": -0.0326336994767189
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.059760093688965,
                "transform": {
                    "location": {
                        "x": -114.75569915771484,
                        "y": 4294.94384765625,
                        "z": 372.8550720214844
                    },
                    "rotation": {
                        "roll": 0.0009016168187372386,
                        "pitch": 0.22993147373199463,
                        "yaw": 179.65829467773438
                    }
                },
                "velocity": {
                    "x": -8.059550285339355,
                    "y": 0.048064835369586945,
                    "z": 0.03283536806702614
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033096313476562,
                "transform": {
                    "location": {
                        "x": -132.76780700683594,
                        "y": 4295.04931640625,
                        "z": 372.9325256347656
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": 0.23036861419677734,
                        "yaw": 179.64556884765625
                    }
                },
                "velocity": {
                    "x": -8.032877922058105,
                    "y": 0.04975363612174988,
                    "z": 0.032113637775182724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.988063812255859,
                "transform": {
                    "location": {
                        "x": -67.95632934570312,
                        "y": 4294.69921875,
                        "z": 372.66839599609375
                    },
                    "rotation": {
                        "roll": 0.0037761235143989325,
                        "pitch": 0.2724084258079529,
                        "yaw": -179.98912048339844
                    }
                },
                "velocity": {
                    "x": -6.988000869750977,
                    "y": 0.006880880333483219,
                    "z": 0.028831375762820244
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.320448875427246,
                "transform": {
                    "location": {
                        "x": -96.29554748535156,
                        "y": 4294.833984375,
                        "z": 372.7850646972656
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": 0.2250683754682541,
                        "yaw": 179.6397247314453
                    }
                },
                "velocity": {
                    "x": -8.320228576660156,
                    "y": 0.05054740235209465,
                    "z": 0.03329428657889366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2147972583770752,
        "expert_target_speed": 2.6988952908873602,
        "target_point": [
            57.01416976155079,
            3.3755867585126786
        ],
        "target_point_next": [
            61.354729514846106,
            3.6602587001732356
        ]
    },
    "365": {
        "acceleration": [
            -0.11499643325805664,
            0.027287006378173828,
            -0.006208224222064018
        ],
        "angular_velocity": [
            0.06285298615694046,
            0.5734062194824219,
            0.32436928153038025
        ],
        "forward_vector": [
            -0.9972321391105652,
            0.07433734834194183,
            0.0014232391258701682
        ],
        "right_vector": [
            -0.07433713227510452,
            -0.9972331523895264,
            0.0002034653298323974
        ],
        "location": [
            -104.71429443359375,
            4291.3974609375,
            372.8219909667969
        ],
        "rotation": [
            -0.01165771670639515,
            0.0815456211566925,
            175.73684692382812
        ],
        "velocity": [
            -1.355063796043396,
            0.12068840116262436,
            0.0055235386826097965
        ],
        "speed": 1.3604277200655421,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.30224895477295,
                "transform": {
                    "location": {
                        "x": -97.45108795166016,
                        "y": 4298.29443359375,
                        "z": 372.7917175292969
                    },
                    "rotation": {
                        "roll": -0.0003662107919808477,
                        "pitch": -0.23828479647636414,
                        "yaw": -0.341461181640625
                    }
                },
                "velocity": {
                    "x": 9.30200481414795,
                    "y": -0.0563160702586174,
                    "z": -0.03704031929373741
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086267471313477,
                "transform": {
                    "location": {
                        "x": -74.50875091552734,
                        "y": 4301.40966796875,
                        "z": 372.6978759765625
                    },
                    "rotation": {
                        "roll": 0.0003233188181184232,
                        "pitch": -0.23592838644981384,
                        "yaw": -0.3493652045726776
                    }
                },
                "velocity": {
                    "x": 8.08604907989502,
                    "y": -0.049280695617198944,
                    "z": -0.033209118992090225
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021078109741211,
                "transform": {
                    "location": {
                        "x": -75.88078308105469,
                        "y": 4298.16748046875,
                        "z": 372.7043151855469
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.2395278960466385,
                        "yaw": -0.3439636528491974
                    }
                },
                "velocity": {
                    "x": 8.020864486694336,
                    "y": -0.04808010160923004,
                    "z": -0.03343403339385986
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.451077461242676,
                "transform": {
                    "location": {
                        "x": -157.8629608154297,
                        "y": 4298.60986328125,
                        "z": 373.0249938964844
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.18612948060035706,
                        "yaw": 0.07320617139339447
                    }
                },
                "velocity": {
                    "x": 6.451039791107178,
                    "y": 0.0010173235787078738,
                    "z": -0.022002795711159706
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.213929176330566,
                "transform": {
                    "location": {
                        "x": -154.8727264404297,
                        "y": 4301.857421875,
                        "z": 373.0211181640625
                    },
                    "rotation": {
                        "roll": 0.001710421172901988,
                        "pitch": 0.14557181298732758,
                        "yaw": -0.041229248046875
                    }
                },
                "velocity": {
                    "x": 10.213855743408203,
                    "y": -0.014368122443556786,
                    "z": -0.03593447431921959
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.680527687072754,
                "transform": {
                    "location": {
                        "x": -95.82234191894531,
                        "y": 4301.5322265625,
                        "z": 372.78912353515625
                    },
                    "rotation": {
                        "roll": 0.0003278795047663152,
                        "pitch": -0.39547476172447205,
                        "yaw": -0.3405151069164276
                    }
                },
                "velocity": {
                    "x": 8.680303573608398,
                    "y": -0.05110631510615349,
                    "z": -0.03581573814153671
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -32.75523376464844,
                        "y": 4297.865234375,
                        "z": 372.5240478515625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -33.23749923706055,
                        "y": 4301.1240234375,
                        "z": 372.552490234375
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03669548034668,
                "transform": {
                    "location": {
                        "x": -116.76483917236328,
                        "y": 4294.95556640625,
                        "z": 372.8630676269531
                    },
                    "rotation": {
                        "roll": 0.0004151304601691663,
                        "pitch": 0.2246927171945572,
                        "yaw": 179.65408325195312
                    }
                },
                "velocity": {
                    "x": -8.036483764648438,
                    "y": 0.04849821329116821,
                    "z": 0.03256302699446678
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.01873779296875,
                "transform": {
                    "location": {
                        "x": -134.77359008789062,
                        "y": 4295.06103515625,
                        "z": 372.9403381347656
                    },
                    "rotation": {
                        "roll": 0.0006582384812645614,
                        "pitch": 0.22732917964458466,
                        "yaw": 179.64883422851562
                    }
                },
                "velocity": {
                    "x": -8.01852798461914,
                    "y": 0.049083903431892395,
                    "z": 0.03087661601603031
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6518025398254395,
                "transform": {
                    "location": {
                        "x": -69.81452941894531,
                        "y": 4294.70068359375,
                        "z": 372.67626953125
                    },
                    "rotation": {
                        "roll": 0.0019504708470776677,
                        "pitch": 0.25979307293891907,
                        "yaw": 179.9171142578125
                    }
                },
                "velocity": {
                    "x": -7.651731967926025,
                    "y": 0.013395478017628193,
                    "z": 0.029917964711785316
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.49583625793457,
                "transform": {
                    "location": {
                        "x": -98.40687561035156,
                        "y": 4294.84716796875,
                        "z": 372.79351806640625
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": 0.2373422235250473,
                        "yaw": 179.65721130371094
                    }
                },
                "velocity": {
                    "x": -8.495607376098633,
                    "y": 0.052447184920310974,
                    "z": 0.03369719535112381
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.18784400820732117,
        "expert_target_speed": 2.545460702172978,
        "target_point": [
            56.65409925527861,
            3.547973862088797
        ],
        "target_point_next": [
            60.99379560224014,
            3.845518316691295
        ]
    },
    "370": {
        "acceleration": [
            -0.7134675979614258,
            0.09362220764160156,
            -0.013976860791444778
        ],
        "angular_velocity": [
            0.09142376482486725,
            0.4296369254589081,
            -1.881173849105835
        ],
        "forward_vector": [
            -0.9969526529312134,
            0.07791511714458466,
            0.0038065817207098007
        ],
        "right_vector": [
            -0.07791522145271301,
            -0.9969599843025208,
            0.00012250452709849924
        ],
        "location": [
            -105.07195281982422,
            4291.4296875,
            372.8229064941406
        ],
        "rotation": [
            -0.00701904296875,
            0.2181015908718109,
            175.53123474121094
        ],
        "velocity": [
            -1.506878137588501,
            0.14134463667869568,
            0.005545759107917547
        ],
        "speed": 1.5134926586739765,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.824578285217285,
                "transform": {
                    "location": {
                        "x": -95.05992126464844,
                        "y": 4298.2802734375,
                        "z": 372.7818908691406
                    },
                    "rotation": {
                        "roll": 0.0007199906394816935,
                        "pitch": -0.22183087468147278,
                        "yaw": -0.3444824516773224
                    }
                },
                "velocity": {
                    "x": 9.824325561523438,
                    "y": -0.05896294489502907,
                    "z": -0.03863603621721268
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05191707611084,
                "transform": {
                    "location": {
                        "x": -72.49132537841797,
                        "y": 4301.39794921875,
                        "z": 372.6896057128906
                    },
                    "rotation": {
                        "roll": 2.590931035229005e-05,
                        "pitch": -0.2358054369688034,
                        "yaw": -0.3493041694164276
                    }
                },
                "velocity": {
                    "x": 8.051697731018066,
                    "y": -0.04908694326877594,
                    "z": -0.03363572061061859
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.039077758789062,
                "transform": {
                    "location": {
                        "x": -73.87281036376953,
                        "y": 4298.15576171875,
                        "z": 372.6960754394531
                    },
                    "rotation": {
                        "roll": 0.00020300205505918711,
                        "pitch": -0.23751981556415558,
                        "yaw": -0.3441772162914276
                    }
                },
                "velocity": {
                    "x": 8.03886604309082,
                    "y": -0.04818150773644447,
                    "z": -0.03293464705348015
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.600252628326416,
                "transform": {
                    "location": {
                        "x": -156.08624267578125,
                        "y": 4298.6103515625,
                        "z": 373.0186767578125
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.18149177730083466,
                        "yaw": 0.00915017444640398
                    }
                },
                "velocity": {
                    "x": 7.600204944610596,
                    "y": -0.001864750636741519,
                    "z": -0.026825260370969772
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 11.144319534301758,
                "transform": {
                    "location": {
                        "x": -152.22366333007812,
                        "y": 4301.85205078125,
                        "z": 373.0129089355469
                    },
                    "rotation": {
                        "roll": 0.011178657412528992,
                        "pitch": -0.01598947122693062,
                        "yaw": -0.128265380859375
                    }
                },
                "velocity": {
                    "x": 11.144204139709473,
                    "y": -0.031216880306601524,
                    "z": -0.04006892442703247
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.208386421203613,
                "transform": {
                    "location": {
                        "x": -93.75562286376953,
                        "y": 4301.5205078125,
                        "z": 372.7808532714844
                    },
                    "rotation": {
                        "roll": 0.0014208235079422593,
                        "pitch": -0.32971370220184326,
                        "yaw": -0.3372192680835724
                    }
                },
                "velocity": {
                    "x": 8.208178520202637,
                    "y": -0.04815663397312164,
                    "z": -0.03308532014489174
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -30.6729679107666,
                        "y": 4297.806640625,
                        "z": 372.5205078125
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -31.155467987060547,
                        "y": 4301.060546875,
                        "z": 372.5267028808594
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.03464412689209,
                "transform": {
                    "location": {
                        "x": -118.7734375,
                        "y": 4294.96728515625,
                        "z": 372.8709716796875
                    },
                    "rotation": {
                        "roll": 8.775371679803357e-05,
                        "pitch": 0.2291186898946762,
                        "yaw": 179.6539306640625
                    }
                },
                "velocity": {
                    "x": -8.034431457519531,
                    "y": 0.04852890968322754,
                    "z": 0.03256968408823013
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.033795356750488,
                "transform": {
                    "location": {
                        "x": -136.77952575683594,
                        "y": 4295.072265625,
                        "z": 372.9480895996094
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.22766385972499847,
                        "yaw": 179.64691162109375
                    }
                },
                "velocity": {
                    "x": -8.03357982635498,
                    "y": 0.050731513649225235,
                    "z": 0.02993820048868656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.237055778503418,
                "transform": {
                    "location": {
                        "x": -71.98804473876953,
                        "y": 4294.705078125,
                        "z": 372.68499755859375
                    },
                    "rotation": {
                        "roll": 0.0023430977016687393,
                        "pitch": 0.2815130650997162,
                        "yaw": 179.848876953125
                    }
                },
                "velocity": {
                    "x": -9.236934661865234,
                    "y": 0.028250353410840034,
                    "z": 0.0378415584564209
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.683030605316162,
                "transform": {
                    "location": {
                        "x": -100.44804382324219,
                        "y": 4294.859375,
                        "z": 372.8019104003906
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": 0.21577931940555573,
                        "yaw": 179.64271545410156
                    }
                },
                "velocity": {
                    "x": -7.682820796966553,
                    "y": 0.047318700700998306,
                    "z": 0.03141620382666588
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1366257220506668,
        "expert_target_speed": 2.6975346230101636,
        "target_point": [
            56.28191989947031,
            3.755525349678943
        ],
        "target_point_next": [
            60.62052051337209,
            4.068641620969594
        ]
    },
    "375": {
        "acceleration": [
            -0.7443141937255859,
            0.10460138320922852,
            -0.005182838067412376
        ],
        "angular_velocity": [
            -0.012201018631458282,
            0.156760111451149,
            -0.01196371577680111
        ],
        "forward_vector": [
            -0.996636152267456,
            0.08180202543735504,
            0.004976609256118536
        ],
        "right_vector": [
            -0.08180257678031921,
            -0.9966485500335693,
            9.267685527447611e-05
        ],
        "location": [
            -105.47429656982422,
            4291.46728515625,
            372.8243408203125
        ],
        "rotation": [
            -0.00531005859375,
            0.28513988852500916,
            175.3077850341797
        ],
        "velocity": [
            -1.6955528259277344,
            0.166007399559021,
            0.006074008997529745
        ],
        "speed": 1.7036601310765813,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.479676246643066,
                "transform": {
                    "location": {
                        "x": -92.65765380859375,
                        "y": 4298.26611328125,
                        "z": 372.7723083496094
                    },
                    "rotation": {
                        "roll": 0.00013340551231522113,
                        "pitch": -0.23718513548374176,
                        "yaw": -0.3446960151195526
                    }
                },
                "velocity": {
                    "x": 9.479429244995117,
                    "y": -0.057001542299985886,
                    "z": -0.03776104003190994
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081578254699707,
                "transform": {
                    "location": {
                        "x": -70.47523498535156,
                        "y": 4301.38623046875,
                        "z": 372.6813049316406
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.23566199839115143,
                        "yaw": -0.3555908203125
                    }
                },
                "velocity": {
                    "x": 8.081355094909668,
                    "y": -0.05014975368976593,
                    "z": -0.03298475965857506
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021286964416504,
                "transform": {
                    "location": {
                        "x": -71.86515808105469,
                        "y": 4298.14404296875,
                        "z": 372.68780517578125
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": -0.2386741191148758,
                        "yaw": -0.3441162109375
                    }
                },
                "velocity": {
                    "x": 8.021073341369629,
                    "y": -0.048244938254356384,
                    "z": -0.03318924829363823
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.379351615905762,
                "transform": {
                    "location": {
                        "x": -154.08351135253906,
                        "y": 4298.6083984375,
                        "z": 373.0115051269531
                    },
                    "rotation": {
                        "roll": 0.001235644449479878,
                        "pitch": -0.18526886403560638,
                        "yaw": -0.0884704515337944
                    }
                },
                "velocity": {
                    "x": 8.3792724609375,
                    "y": -0.021487006917595863,
                    "z": -0.029544176533818245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.095229148864746,
                "transform": {
                    "location": {
                        "x": -149.3113250732422,
                        "y": 4301.84326171875,
                        "z": 373.00213623046875
                    },
                    "rotation": {
                        "roll": 0.01013859175145626,
                        "pitch": 0.008448943495750427,
                        "yaw": -0.2189025729894638
                    }
                },
                "velocity": {
                    "x": 12.095049858093262,
                    "y": -0.04942874237895012,
                    "z": -0.04344695433974266
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.114272117614746,
                "transform": {
                    "location": {
                        "x": -91.59773254394531,
                        "y": 4301.50830078125,
                        "z": 372.7723388671875
                    },
                    "rotation": {
                        "roll": -0.0013732911320403218,
                        "pitch": -0.1496904194355011,
                        "yaw": -0.3266601264476776
                    }
                },
                "velocity": {
                    "x": 9.114045143127441,
                    "y": -0.05231091380119324,
                    "z": -0.037400953471660614
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -28.589765548706055,
                        "y": 4297.79052734375,
                        "z": 372.5121765136719
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -29.072265625,
                        "y": 4301.04443359375,
                        "z": 372.5169372558594
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.071444511413574,
                "transform": {
                    "location": {
                        "x": -120.78812408447266,
                        "y": 4294.978515625,
                        "z": 372.8789367675781
                    },
                    "rotation": {
                        "roll": 0.0004070220747962594,
                        "pitch": 0.22788241505622864,
                        "yaw": 179.65025329589844
                    }
                },
                "velocity": {
                    "x": -8.07122802734375,
                    "y": 0.04930581897497177,
                    "z": 0.03263041377067566
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.792111396789551,
                "transform": {
                    "location": {
                        "x": -138.7711639404297,
                        "y": 4295.08447265625,
                        "z": 372.9559020996094
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.17890313267707825,
                        "yaw": 179.64479064941406
                    }
                },
                "velocity": {
                    "x": -7.791908264160156,
                    "y": 0.04833957180380821,
                    "z": 0.028780793771147728
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.972712516784668,
                "transform": {
                    "location": {
                        "x": -74.39593505859375,
                        "y": 4294.7138671875,
                        "z": 372.695068359375
                    },
                    "rotation": {
                        "roll": 0.00153447687625885,
                        "pitch": 0.26410973072052,
                        "yaw": 179.8037567138672
                    }
                },
                "velocity": {
                    "x": -9.972543716430664,
                    "y": 0.040919139981269836,
                    "z": 0.041109781712293625
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.677015781402588,
                "transform": {
                    "location": {
                        "x": -102.18218231201172,
                        "y": 4294.8701171875,
                        "z": 372.8090515136719
                    },
                    "rotation": {
                        "roll": 0.0003354460932314396,
                        "pitch": 0.1972285360097885,
                        "yaw": 179.62759399414062
                    }
                },
                "velocity": {
                    "x": -6.676834583282471,
                    "y": 0.04090503603219986,
                    "z": 0.027283210307359695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08989490568637848,
        "expert_target_speed": 2.886280801953101,
        "target_point": [
            55.86277425826106,
            3.9795573690155046
        ],
        "target_point_next": [
            60.20012070991422,
            4.3095919802725
        ]
    },
    "380": {
        "acceleration": [
            -0.735781192779541,
            0.12148082256317139,
            0.001789657399058342
        ],
        "angular_velocity": [
            0.011691409163177013,
            0.051220279186964035,
            -2.123053550720215
        ],
        "forward_vector": [
            -0.9962137341499329,
            0.08677271008491516,
            0.005356285721063614
        ],
        "right_vector": [
            -0.08677379786968231,
            -0.996228039264679,
            2.9826956961187534e-05
        ],
        "location": [
            -105.9227294921875,
            4291.51171875,
            372.8260498046875
        ],
        "rotation": [
            -0.0017089833272621036,
            0.3068940341472626,
            175.02195739746094
        ],
        "velocity": [
            -1.8807015419006348,
            0.19563663005828857,
            0.0066014667972922325
        ],
        "speed": 1.8908495394208362,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.864623069763184,
                "transform": {
                    "location": {
                        "x": -90.24436950683594,
                        "y": 4298.25146484375,
                        "z": 372.762451171875
                    },
                    "rotation": {
                        "roll": 0.0001468682021368295,
                        "pitch": -0.22784826159477234,
                        "yaw": -0.3474120497703552
                    }
                },
                "velocity": {
                    "x": 9.864360809326172,
                    "y": -0.05989038944244385,
                    "z": -0.03994983062148094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052651405334473,
                "transform": {
                    "location": {
                        "x": -68.45819854736328,
                        "y": 4301.375,
                        "z": 372.6729736328125
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.23592838644981384,
                        "yaw": -0.3560790717601776
                    }
                },
                "velocity": {
                    "x": 8.052427291870117,
                    "y": -0.050022855401039124,
                    "z": -0.03328075632452965
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037298202514648,
                "transform": {
                    "location": {
                        "x": -69.85726165771484,
                        "y": 4298.13232421875,
                        "z": 372.6795654296875
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.23810037970542908,
                        "yaw": -0.344207763671875
                    }
                },
                "velocity": {
                    "x": 8.037084579467773,
                    "y": -0.0483047179877758,
                    "z": -0.033129237592220306
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.205828666687012,
                "transform": {
                    "location": {
                        "x": -151.88148498535156,
                        "y": 4298.6025390625,
                        "z": 373.0036926269531
                    },
                    "rotation": {
                        "roll": 0.0005393382161855698,
                        "pitch": -0.1865256279706955,
                        "yaw": -0.182037353515625
                    }
                },
                "velocity": {
                    "x": 9.205716133117676,
                    "y": -0.03117559663951397,
                    "z": -0.03316979482769966
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 12.998836517333984,
                "transform": {
                    "location": {
                        "x": -146.17022705078125,
                        "y": 4301.8291015625,
                        "z": 372.99072265625
                    },
                    "rotation": {
                        "roll": 0.008665814995765686,
                        "pitch": -0.006133509334176779,
                        "yaw": -0.299591064453125
                    }
                },
                "velocity": {
                    "x": 12.998577117919922,
                    "y": -0.0662262812256813,
                    "z": -0.04860839247703552
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.705000877380371,
                "transform": {
                    "location": {
                        "x": -89.19656372070312,
                        "y": 4301.4951171875,
                        "z": 372.7626037597656
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": -0.141876682639122,
                        "yaw": -0.3211059272289276
                    }
                },
                "velocity": {
                    "x": 9.704761505126953,
                    "y": -0.05460038408637047,
                    "z": -0.04090104624629021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11451,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -26.506561279296875,
                        "y": 4297.7744140625,
                        "z": 372.50390625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11452,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -26.98906135559082,
                        "y": 4301.0283203125,
                        "z": 372.5069580078125
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.2393503040075302,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.012775421142578,
                "transform": {
                    "location": {
                        "x": -122.79710388183594,
                        "y": 4294.99072265625,
                        "z": 372.88690185546875
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": 0.2246175855398178,
                        "yaw": 179.6493682861328
                    }
                },
                "velocity": {
                    "x": -8.01256275177002,
                    "y": 0.049001652747392654,
                    "z": 0.03156103193759918
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11261,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.047183036804199,
                "transform": {
                    "location": {
                        "x": -140.6132049560547,
                        "y": 4295.09619140625,
                        "z": 372.9635925292969
                    },
                    "rotation": {
                        "roll": 0.0002756187168415636,
                        "pitch": -0.008455773815512657,
                        "yaw": 179.64404296875
                    }
                },
                "velocity": {
                    "x": -7.046990394592285,
                    "y": 0.04374822974205017,
                    "z": 0.02827896922826767
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.58690357208252,
                "transform": {
                    "location": {
                        "x": -76.96858978271484,
                        "y": 4294.724609375,
                        "z": 372.7057800292969
                    },
                    "rotation": {
                        "roll": 0.0013798074796795845,
                        "pitch": 0.2589256167411804,
                        "yaw": 179.78524780273438
                    }
                },
                "velocity": {
                    "x": -10.586702346801758,
                    "y": 0.05025458335876465,
                    "z": 0.041719987988471985
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.181869029998779,
                "transform": {
                    "location": {
                        "x": -103.89781188964844,
                        "y": 4294.8798828125,
                        "z": 372.8155517578125
                    },
                    "rotation": {
                        "roll": -0.0002746583195403218,
                        "pitch": 0.23794329166412354,
                        "yaw": 179.6141357421875
                    }
                },
                "velocity": {
                    "x": -7.181673526763916,
                    "y": 0.04431263357400894,
                    "z": 0.029036207124590874
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03006461262702942,
        "expert_target_speed": 3.071730040080975,
        "target_point": [
            55.391629395439274,
            4.263541427797408
        ],
        "target_point_next": [
            59.72727544874818,
            4.615209434193804
        ]
    },
    "385": {
        "acceleration": [
            -0.7745504379272461,
            0.15436410903930664,
            0.010158540681004524
        ],
        "angular_velocity": [
            0.019262302666902542,
            0.021455541253089905,
            -0.5351986289024353
        ],
        "forward_vector": [
            -0.9957142472267151,
            0.09231986850500107,
            0.005486937239766121
        ],
        "right_vector": [
            -0.0923214852809906,
            -0.9957292675971985,
            -4.032152355648577e-05
        ],
        "location": [
            -106.41741943359375,
            4291.5634765625,
            372.8279113769531
        ],
        "rotation": [
            0.002310287905856967,
            0.3143799304962158,
            174.7028350830078
        ],
        "velocity": [
            -2.0704498291015625,
            0.23077012598514557,
            0.007551622111350298
        ],
        "speed": 2.0832708287387622,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.023101806640625,
                "transform": {
                    "location": {
                        "x": -87.8637466430664,
                        "y": 4298.23681640625,
                        "z": 372.7528076171875
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": -0.24924041330814362,
                        "yaw": -0.3471679389476776
                    }
                },
                "velocity": {
                    "x": 9.022863388061523,
                    "y": -0.05381243675947189,
                    "z": -0.03745147958397865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08338451385498,
                "transform": {
                    "location": {
                        "x": -66.44062042236328,
                        "y": 4301.36279296875,
                        "z": 372.6646728515625
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": -0.23626989126205444,
                        "yaw": -0.3561401069164276
                    }
                },
                "velocity": {
                    "x": 8.083157539367676,
                    "y": -0.05025176703929901,
                    "z": -0.03382393345236778
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.021965026855469,
                "transform": {
                    "location": {
                        "x": -67.84953308105469,
                        "y": 4298.12060546875,
                        "z": 372.6712951660156
                    },
                    "rotation": {
                        "roll": 0.0001385389332426712,
                        "pitch": -0.23831211030483246,
                        "yaw": -0.3441772162914276
                    }
                },
                "velocity": {
                    "x": 8.021753311157227,
                    "y": -0.0481475330889225,
                    "z": -0.032757461071014404
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.001938819885254,
                "transform": {
                    "location": {
                        "x": -149.47764587402344,
                        "y": 4298.59375,
                        "z": 372.9949951171875
                    },
                    "rotation": {
                        "roll": 0.00021998185548000038,
                        "pitch": -0.18970166146755219,
                        "yaw": -0.23052972555160522
                    }
                },
                "velocity": {
                    "x": 10.001775741577148,
                    "y": -0.043485816568136215,
                    "z": -0.037061676383018494
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.601884841918945,
                "transform": {
                    "location": {
                        "x": -142.82655334472656,
                        "y": 4301.81103515625,
                        "z": 372.97845458984375
                    },
                    "rotation": {
                        "roll": 0.0055220285430550575,
                        "pitch": -0.055481623858213425,
                        "yaw": -0.3337402045726776
                    }
                },
                "velocity": {
                    "x": 13.601577758789062,
                    "y": -0.0766490176320076,
                    "z": -0.04967663809657097
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.200156211853027,
                "transform": {
                    "location": {
                        "x": -86.86640167236328,
                        "y": 4301.48095703125,
                        "z": 372.7528076171875
                    },
                    "rotation": {
                        "roll": 0.0017146095633506775,
                        "pitch": -0.26989489793777466,
                        "yaw": -0.3342895209789276
                    }
                },
                "velocity": {
                    "x": 9.199921607971191,
                    "y": -0.05343912914395332,
                    "z": -0.038146600127220154
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076738357543945,
                "transform": {
                    "location": {
                        "x": -124.80913543701172,
                        "y": 4295.00244140625,
                        "z": 372.89471435546875
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.22628416121006012,
                        "yaw": 179.6453399658203
                    }
                },
                "velocity": {
                    "x": -8.076516151428223,
                    "y": 0.05007132515311241,
                    "z": 0.032818421721458435
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0998196601867676,
                "transform": {
                    "location": {
                        "x": -59.99991989135742,
                        "y": 4294.72119140625,
                        "z": 373.0286560058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23650895059108734,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -2.043818235397339,
                    "y": 0.01207974087446928,
                    "z": -0.48156362771987915
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.228460311889648,
                "transform": {
                    "location": {
                        "x": -79.70054626464844,
                        "y": 4294.73779296875,
                        "z": 372.7170104980469
                    },
                    "rotation": {
                        "roll": 0.0016179726226255298,
                        "pitch": 0.258666068315506,
                        "yaw": 179.7183380126953
                    }
                },
                "velocity": {
                    "x": -11.22821044921875,
                    "y": 0.05959034338593483,
                    "z": 0.04546650871634483
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.713613033294678,
                "transform": {
                    "location": {
                        "x": -105.79296875,
                        "y": 4294.8916015625,
                        "z": 372.8231201171875
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.2488374412059784,
                        "yaw": 179.6397247314453
                    }
                },
                "velocity": {
                    "x": -7.713412284851074,
                    "y": 0.04713704064488411,
                    "z": 0.029600266367197037
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.018177617341279984,
        "expert_target_speed": 3.2620666502067186,
        "target_point": [
            54.86966703010087,
            4.577867793562188
        ],
        "target_point_next": [
            59.20328707090998,
            4.9536794860274185
        ]
    },
    "390": {
        "acceleration": [
            1.3073110580444336,
            -0.08394807577133179,
            -0.004174225032329559
        ],
        "angular_velocity": [
            -0.10434260964393616,
            -0.5593342185020447,
            -2.5858006477355957
        ],
        "forward_vector": [
            -0.9950323700904846,
            0.09944285452365875,
            0.004652959760278463
        ],
        "right_vector": [
            -0.09944424778223038,
            -0.9950430989265442,
            -6.690565351163968e-05
        ],
        "location": [
            -106.94296264648438,
            4291.62353515625,
            372.8301086425781
        ],
        "rotation": [
            0.0038334534037858248,
            0.2665959298610687,
            174.2928466796875
        ],
        "velocity": [
            -2.0258283615112305,
            0.24490121006965637,
            0.009310321882367134
        ],
        "speed": 2.0405776517929572,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.759666442871094,
                "transform": {
                    "location": {
                        "x": -85.67366790771484,
                        "y": 4298.22314453125,
                        "z": 372.7438049316406
                    },
                    "rotation": {
                        "roll": -0.0002746580576058477,
                        "pitch": -0.24285419285297394,
                        "yaw": -0.3446654975414276
                    }
                },
                "velocity": {
                    "x": 8.759429931640625,
                    "y": -0.05273033678531647,
                    "z": -0.036842696368694305
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05086898803711,
                "transform": {
                    "location": {
                        "x": -64.4242172241211,
                        "y": 4301.3515625,
                        "z": 372.6563720703125
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.23590105772018433,
                        "yaw": -0.3564147651195526
                    }
                },
                "velocity": {
                    "x": 8.050647735595703,
                    "y": -0.050058331340551376,
                    "z": -0.03266935423016548
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037773132324219,
                "transform": {
                    "location": {
                        "x": -65.84163665771484,
                        "y": 4298.10888671875,
                        "z": 372.6629943847656
                    },
                    "rotation": {
                        "roll": 0.0019609653390944004,
                        "pitch": -0.2386399656534195,
                        "yaw": -0.3538208305835724
                    }
                },
                "velocity": {
                    "x": 8.037543296813965,
                    "y": -0.05074789747595787,
                    "z": -0.03339469060301781
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.896936416625977,
                "transform": {
                    "location": {
                        "x": -146.86170959472656,
                        "y": 4298.58154296875,
                        "z": 372.98529052734375
                    },
                    "rotation": {
                        "roll": 0.0018197663594037294,
                        "pitch": -0.19397053122520447,
                        "yaw": -0.284881591796875
                    }
                },
                "velocity": {
                    "x": 10.896716117858887,
                    "y": -0.055764053016901016,
                    "z": -0.04103051871061325
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.581579208374023,
                "transform": {
                    "location": {
                        "x": -139.42367553710938,
                        "y": 4301.79150390625,
                        "z": 372.9670715332031
                    },
                    "rotation": {
                        "roll": 0.0021847360767424107,
                        "pitch": -0.2137439250946045,
                        "yaw": -0.3436584770679474
                    }
                },
                "velocity": {
                    "x": 13.581243515014648,
                    "y": -0.07989668846130371,
                    "z": -0.052371349185705185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.762998580932617,
                "transform": {
                    "location": {
                        "x": -84.48531341552734,
                        "y": 4301.46728515625,
                        "z": 372.7431945800781
                    },
                    "rotation": {
                        "roll": 0.0008130964706651866,
                        "pitch": -0.17388977110385895,
                        "yaw": -0.33154296875
                    }
                },
                "velocity": {
                    "x": 9.76275634765625,
                    "y": -0.05669454485177994,
                    "z": -0.03906562179327011
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.015876770019531,
                "transform": {
                    "location": {
                        "x": -126.82054138183594,
                        "y": 4295.01416015625,
                        "z": 372.9026184082031
                    },
                    "rotation": {
                        "roll": -0.0014038087101653218,
                        "pitch": 0.22531427443027496,
                        "yaw": 179.64479064941406
                    }
                },
                "velocity": {
                    "x": -8.015660285949707,
                    "y": 0.049702320247888565,
                    "z": 0.031792543828487396
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.477938413619995,
                "transform": {
                    "location": {
                        "x": -60.508827209472656,
                        "y": 4294.72412109375,
                        "z": 372.6328125
                    },
                    "rotation": {
                        "roll": -0.0014953612117096782,
                        "pitch": 0.23605132102966309,
                        "yaw": 179.69595336914062
                    }
                },
                "velocity": {
                    "x": -2.0369317531585693,
                    "y": -0.018673444166779518,
                    "z": -1.4109357595443726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 11.379491806030273,
                "transform": {
                    "location": {
                        "x": -82.5633544921875,
                        "y": 4294.7529296875,
                        "z": 372.7288513183594
                    },
                    "rotation": {
                        "roll": 0.0013007131638005376,
                        "pitch": 0.24554528295993805,
                        "yaw": 179.67063903808594
                    }
                },
                "velocity": {
                    "x": -11.379218101501465,
                    "y": 0.06371038407087326,
                    "z": 0.04655831307172775
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.938173294067383,
                "transform": {
                    "location": {
                        "x": -107.95648193359375,
                        "y": 4294.90478515625,
                        "z": 372.83148193359375
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.2645195424556732,
                        "yaw": 179.58157348632812
                    }
                },
                "velocity": {
                    "x": -8.937929153442383,
                    "y": 0.05525834485888481,
                    "z": 0.03620053082704544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.10359513014554977,
        "expert_target_speed": 3.219539569308144,
        "target_point": [
            54.306595447845666,
            4.977861568566541
        ],
        "target_point_next": [
            58.637415481477305,
            5.384672240244058
        ]
    },
    "395": {
        "acceleration": [
            0.7448840141296387,
            0.24368137121200562,
            -0.011425213888287544
        ],
        "angular_velocity": [
            0.10312329232692719,
            -0.1504725217819214,
            -1.9214649200439453
        ],
        "forward_vector": [
            -0.994093120098114,
            0.10850276052951813,
            0.002441642340272665
        ],
        "right_vector": [
            -0.10850434005260468,
            -0.9940958619117737,
            -0.0005259530153125525
        ],
        "location": [
            -107.39624786376953,
            4291.68310546875,
            372.83251953125
        ],
        "rotation": [
            0.030134979635477066,
            0.13989593088626862,
            173.77096557617188
        ],
        "velocity": [
            -1.6674772500991821,
            0.259452760219574,
            0.007714652922004461
        ],
        "speed": 1.687541440790088,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.134448051452637,
                "transform": {
                    "location": {
                        "x": -83.421875,
                        "y": 4298.20947265625,
                        "z": 372.7344055175781
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.22784826159477234,
                        "yaw": -0.344390869140625
                    }
                },
                "velocity": {
                    "x": 9.134208679199219,
                    "y": -0.05493338406085968,
                    "z": -0.03684576600790024
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085246086120605,
                "transform": {
                    "location": {
                        "x": -62.406639099121094,
                        "y": 4301.33935546875,
                        "z": 372.6480407714844
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.23663188517093658,
                        "yaw": -0.356353759765625
                    }
                },
                "velocity": {
                    "x": 8.085018157958984,
                    "y": -0.05030348524451256,
                    "z": -0.03406694158911705
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.023063659667969,
                "transform": {
                    "location": {
                        "x": -63.83390426635742,
                        "y": 4298.0966796875,
                        "z": 372.65472412109375
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.2387082725763321,
                        "yaw": -0.35260009765625
                    }
                },
                "velocity": {
                    "x": 8.022843360900879,
                    "y": -0.049298208206892014,
                    "z": -0.033142514526844025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.795746803283691,
                "transform": {
                    "location": {
                        "x": -144.02163696289062,
                        "y": 4298.56689453125,
                        "z": 372.97467041015625
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": -0.192085400223732,
                        "yaw": -0.3147277235984802
                    }
                },
                "velocity": {
                    "x": 11.795488357543945,
                    "y": -0.06532368808984756,
                    "z": -0.042850665748119354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.467290878295898,
                "transform": {
                    "location": {
                        "x": -136.04507446289062,
                        "y": 4301.77197265625,
                        "z": 372.9543151855469
                    },
                    "rotation": {
                        "roll": 0.0010371556272730231,
                        "pitch": -0.26897966861724854,
                        "yaw": -0.34326171875
                    }
                },
                "velocity": {
                    "x": 13.466946601867676,
                    "y": -0.08051198720932007,
                    "z": -0.05267209932208061
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.853517532348633,
                "transform": {
                    "location": {
                        "x": -82.16038513183594,
                        "y": 4301.45361328125,
                        "z": 372.7335205078125
                    },
                    "rotation": {
                        "roll": -3.0517596314894035e-05,
                        "pitch": -0.3291262984275818,
                        "yaw": -0.33587646484375
                    }
                },
                "velocity": {
                    "x": 8.853290557861328,
                    "y": -0.05165395140647888,
                    "z": -0.03680859133601189
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.072344779968262,
                "transform": {
                    "location": {
                        "x": -128.83148193359375,
                        "y": 4295.0263671875,
                        "z": 372.9105529785156
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.22580604255199432,
                        "yaw": 179.6416778564453
                    }
                },
                "velocity": {
                    "x": -8.072121620178223,
                    "y": 0.05058742314577103,
                    "z": 0.03225838765501976
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9535210132598877,
                "transform": {
                    "location": {
                        "x": -61.000389099121094,
                        "y": 4294.72119140625,
                        "z": 372.599365234375
                    },
                    "rotation": {
                        "roll": 0.000801159767434001,
                        "pitch": 0.23629038035869598,
                        "yaw": 179.9172821044922
                    }
                },
                "velocity": {
                    "x": -1.9360584020614624,
                    "y": -0.007448368705809116,
                    "z": 0.2605119049549103
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.690107345581055,
                "transform": {
                    "location": {
                        "x": -85.29468536376953,
                        "y": 4294.7685546875,
                        "z": 372.7402648925781
                    },
                    "rotation": {
                        "roll": 0.000687971303705126,
                        "pitch": 0.21515095233917236,
                        "yaw": 179.6303253173828
                    }
                },
                "velocity": {
                    "x": -10.6898193359375,
                    "y": 0.06439411640167236,
                    "z": 0.044826943427324295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.191996574401855,
                "transform": {
                    "location": {
                        "x": -110.08898162841797,
                        "y": 4294.91845703125,
                        "z": 372.840576171875
                    },
                    "rotation": {
                        "roll": -0.0003662108210846782,
                        "pitch": 0.21310871839523315,
                        "yaw": 179.635986328125
                    }
                },
                "velocity": {
                    "x": -8.19178581237793,
                    "y": 0.048799317330121994,
                    "z": 0.03265273943543434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1744900345802307,
        "expert_target_speed": 2.8693892909608136,
        "target_point": [
            53.80192960035621,
            5.482338064212306
        ],
        "target_point_next": [
            58.12886457934956,
            5.928578777123695
        ]
    },
    "400": {
        "acceleration": [
            -2.015671730041504,
            0.6070947647094727,
            0.013831136748194695
        ],
        "angular_velocity": [
            0.19664902985095978,
            0.7493094801902771,
            -5.691873073577881
        ],
        "forward_vector": [
            -0.9920260310173035,
            0.12595833837985992,
            0.004342304076999426
        ],
        "right_vector": [
            -0.12596437335014343,
            -0.9920341372489929,
            -0.0011439422378316522
        ],
        "location": [
            -107.8359375,
            4291.7578125,
            372.83392333984375
        ],
        "rotation": [
            0.06554369628429413,
            0.2487964630126953,
            172.76382446289062
        ],
        "velocity": [
            -1.9353408813476562,
            0.37466323375701904,
            0.006689634174108505
        ],
        "speed": 1.9712729049385298,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.507354736328125,
                "transform": {
                    "location": {
                        "x": -81.24117279052734,
                        "y": 4298.1962890625,
                        "z": 372.72564697265625
                    },
                    "rotation": {
                        "roll": -0.0007934568566270173,
                        "pitch": -0.2465834766626358,
                        "yaw": -0.3421325385570526
                    }
                },
                "velocity": {
                    "x": 8.50712776184082,
                    "y": -0.050604160875082016,
                    "z": -0.03616130352020264
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.049739837646484,
                "transform": {
                    "location": {
                        "x": -60.39007568359375,
                        "y": 4301.328125,
                        "z": 372.6396789550781
                    },
                    "rotation": {
                        "roll": 0.000350884540239349,
                        "pitch": -0.23739686608314514,
                        "yaw": -0.3562316596508026
                    }
                },
                "velocity": {
                    "x": 8.049516677856445,
                    "y": -0.05003904178738594,
                    "z": -0.033044904470443726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037566184997559,
                "transform": {
                    "location": {
                        "x": -61.82601547241211,
                        "y": 4298.0849609375,
                        "z": 372.6463928222656
                    },
                    "rotation": {
                        "roll": -9.155279985861853e-05,
                        "pitch": -0.23886536061763763,
                        "yaw": -0.3517151176929474
                    }
                },
                "velocity": {
                    "x": 8.037344932556152,
                    "y": -0.04933485388755798,
                    "z": -0.033355530351400375
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.35385799407959,
                "transform": {
                    "location": {
                        "x": -140.98007202148438,
                        "y": 4298.5498046875,
                        "z": 372.9632873535156
                    },
                    "rotation": {
                        "roll": 0.00022967015684116632,
                        "pitch": -0.20355328917503357,
                        "yaw": -0.3345337212085724
                    }
                },
                "velocity": {
                    "x": 12.353568077087402,
                    "y": -0.07144080102443695,
                    "z": -0.045531462877988815
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.435665130615234,
                "transform": {
                    "location": {
                        "x": -132.6836700439453,
                        "y": 4301.75244140625,
                        "z": 372.9410095214844
                    },
                    "rotation": {
                        "roll": 0.0002488621976226568,
                        "pitch": -0.23547758162021637,
                        "yaw": -0.34564208984375
                    }
                },
                "velocity": {
                    "x": 13.435319900512695,
                    "y": -0.08073009550571442,
                    "z": -0.052535537630319595
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.128398895263672,
                "transform": {
                    "location": {
                        "x": -79.935546875,
                        "y": 4301.43994140625,
                        "z": 372.7243957519531
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": -0.2268373966217041,
                        "yaw": -0.3362731337547302
                    }
                },
                "velocity": {
                    "x": 9.128165245056152,
                    "y": -0.05365896597504616,
                    "z": -0.03738570958375931
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.019109725952148,
                "transform": {
                    "location": {
                        "x": -130.84288024902344,
                        "y": 4295.0380859375,
                        "z": 372.9183654785156
                    },
                    "rotation": {
                        "roll": 0.00011207356146769598,
                        "pitch": 0.22558064758777618,
                        "yaw": 179.6444091796875
                    }
                },
                "velocity": {
                    "x": -8.018880844116211,
                    "y": 0.051155708730220795,
                    "z": 0.03242769092321396
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9703316688537598,
                "transform": {
                    "location": {
                        "x": -61.48875045776367,
                        "y": 4294.7197265625,
                        "z": 372.6405029296875
                    },
                    "rotation": {
                        "roll": 0.0011677746661007404,
                        "pitch": 0.23719879984855652,
                        "yaw": 179.9850616455078
                    }
                },
                "velocity": {
                    "x": -1.969101071357727,
                    "y": -0.006844505667686462,
                    "z": 0.06928983330726624
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.275696754455566,
                "transform": {
                    "location": {
                        "x": -87.94413757324219,
                        "y": 4294.7841796875,
                        "z": 372.7511291503906
                    },
                    "rotation": {
                        "roll": 0.0012999511091038585,
                        "pitch": 0.22146204113960266,
                        "yaw": 179.6391143798828
                    }
                },
                "velocity": {
                    "x": -10.275403022766113,
                    "y": 0.06430676579475403,
                    "z": 0.04359316825866699
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.668433666229248,
                "transform": {
                    "location": {
                        "x": -112.099609375,
                        "y": 4294.93017578125,
                        "z": 372.8485107421875
                    },
                    "rotation": {
                        "roll": 0.0007467127870768309,
                        "pitch": 0.213771253824234,
                        "yaw": 179.65721130371094
                    }
                },
                "velocity": {
                    "x": -7.66823148727417,
                    "y": 0.04585845023393631,
                    "z": 0.031652916222810745
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.29729315638542175,
        "expert_target_speed": 0,
        "target_point": [
            53.251658745424166,
            6.445882925164798
        ],
        "target_point_next": [
            57.57008182871202,
            6.968108125650662
        ]
    },
    "405": {
        "acceleration": [
            -3.2880020141601562,
            1.349552869796753,
            0.013579931110143661
        ],
        "angular_velocity": [
            0.5081303119659424,
            0.6378289461135864,
            -7.641119956970215
        ],
        "forward_vector": [
            -0.988088846206665,
            0.15368986129760742,
            0.00773314805701375
        ],
        "right_vector": [
            -0.15371212363243103,
            -0.9881128668785095,
            -0.002368220593780279
        ],
        "location": [
            -108.41046905517578,
            4291.876953125,
            372.8354187011719
        ],
        "rotation": [
            0.1356932371854782,
            0.44308117032051086,
            171.15892028808594
        ],
        "velocity": [
            -2.6574225425720215,
            0.6328989863395691,
            0.010193414054811
        ],
        "speed": 2.731749566977105,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.924771308898926,
                "transform": {
                    "location": {
                        "x": -79.07218933105469,
                        "y": 4298.18310546875,
                        "z": 372.7165222167969
                    },
                    "rotation": {
                        "roll": 8.149466157192364e-05,
                        "pitch": -0.23055985569953918,
                        "yaw": -0.3405761420726776
                    }
                },
                "velocity": {
                    "x": 8.924534797668457,
                    "y": -0.053076017647981644,
                    "z": -0.03752995282411575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084443092346191,
                "transform": {
                    "location": {
                        "x": -58.37320327758789,
                        "y": 4301.31591796875,
                        "z": 372.6313171386719
                    },
                    "rotation": {
                        "roll": 0.001086522825062275,
                        "pitch": -0.23693925142288208,
                        "yaw": -0.358154296875
                    }
                },
                "velocity": {
                    "x": 8.08421516418457,
                    "y": -0.050671882927417755,
                    "z": -0.03339972719550133
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022435188293457,
                "transform": {
                    "location": {
                        "x": -59.81827926635742,
                        "y": 4298.0732421875,
                        "z": 372.63812255859375
                    },
                    "rotation": {
                        "roll": 0.0006773998611606658,
                        "pitch": -0.2396918088197708,
                        "yaw": -0.3549804389476776
                    }
                },
                "velocity": {
                    "x": 8.02221393585205,
                    "y": -0.04974064230918884,
                    "z": -0.03280521184206009
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.124093055725098,
                "transform": {
                    "location": {
                        "x": -137.78265380859375,
                        "y": 4298.53076171875,
                        "z": 372.9510498046875
                    },
                    "rotation": {
                        "roll": 1.893035187094938e-05,
                        "pitch": -0.20489200949668884,
                        "yaw": -0.3372192680835724
                    }
                },
                "velocity": {
                    "x": 13.123770713806152,
                    "y": -0.07696731388568878,
                    "z": -0.050524745136499405
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.4478759765625,
                "transform": {
                    "location": {
                        "x": -129.32334899902344,
                        "y": 4301.73291015625,
                        "z": 372.9276428222656
                    },
                    "rotation": {
                        "roll": 0.00034746364690363407,
                        "pitch": -0.2190919667482376,
                        "yaw": -0.343719482421875
                    }
                },
                "velocity": {
                    "x": 13.447528839111328,
                    "y": -0.0809076577425003,
                    "z": -0.05288688838481903
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.354781150817871,
                "transform": {
                    "location": {
                        "x": -77.72234344482422,
                        "y": 4301.4267578125,
                        "z": 372.7151794433594
                    },
                    "rotation": {
                        "roll": -3.051758176297881e-05,
                        "pitch": -0.3259570896625519,
                        "yaw": -0.3425292670726776
                    }
                },
                "velocity": {
                    "x": 8.354560852050781,
                    "y": -0.04975362494587898,
                    "z": -0.034775689244270325
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.070478439331055,
                "transform": {
                    "location": {
                        "x": -132.85389709472656,
                        "y": 4295.0498046875,
                        "z": 372.9262390136719
                    },
                    "rotation": {
                        "roll": 5.211060749577001e-11,
                        "pitch": 0.2247883379459381,
                        "yaw": 179.64247131347656
                    }
                },
                "velocity": {
                    "x": -8.070259094238281,
                    "y": 0.05034324526786804,
                    "z": 0.03182321414351463
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0235466957092285,
                "transform": {
                    "location": {
                        "x": -62.27523422241211,
                        "y": 4294.71728515625,
                        "z": 372.64776611328125
                    },
                    "rotation": {
                        "roll": 0.0014746049419045448,
                        "pitch": 0.2756732404232025,
                        "yaw": -179.93666076660156
                    }
                },
                "velocity": {
                    "x": -4.023495674133301,
                    "y": -0.013980042189359665,
                    "z": 0.014722785912454128
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.236183166503906,
                "transform": {
                    "location": {
                        "x": -90.37203216552734,
                        "y": 4294.79931640625,
                        "z": 372.76129150390625
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.20264486968517303,
                        "yaw": 179.61886596679688
                    }
                },
                "velocity": {
                    "x": -9.235919952392578,
                    "y": 0.05819762498140335,
                    "z": 0.03841761499643326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.740813732147217,
                "transform": {
                    "location": {
                        "x": -113.84163665771484,
                        "y": 4294.9404296875,
                        "z": 372.8556213378906
                    },
                    "rotation": {
                        "roll": 0.0003338904061820358,
                        "pitch": 0.19700314104557037,
                        "yaw": 179.63853454589844
                    }
                },
                "velocity": {
                    "x": -6.74064302444458,
                    "y": 0.03977832570672035,
                    "z": 0.026824606582522392
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.49354058504104614,
        "expert_target_speed": 0,
        "target_point": [
            52.46422182016414,
            7.9642063664543965
        ],
        "target_point_next": [
            56.766324824312726,
            8.607173572454544
        ]
    },
    "410": {
        "acceleration": [
            -3.8523292541503906,
            1.7526066303253174,
            0.03182640299201012
        ],
        "angular_velocity": [
            0.36886176466941833,
            0.39264875650405884,
            -12.47557258605957
        ],
        "forward_vector": [
            -0.9798675179481506,
            0.19938692450523376,
            0.010224401950836182
        ],
        "right_vector": [
            -0.1994374543428421,
            -0.9799016714096069,
            -0.004176192916929722
        ],
        "location": [
            -109.19304656982422,
            4292.0791015625,
            372.8380432128906
        ],
        "rotation": [
            0.23929142951965332,
            0.5858252644538879,
            168.49827575683594
        ],
        "velocity": [
            -3.567499876022339,
            1.0479931831359863,
            0.014759893529117107
        ],
        "speed": 3.7182448920584696,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.419310569763184,
                "transform": {
                    "location": {
                        "x": -76.87234497070312,
                        "y": 4298.16943359375,
                        "z": 372.7076110839844
                    },
                    "rotation": {
                        "roll": -9.155267616733909e-05,
                        "pitch": -0.2445071041584015,
                        "yaw": -0.340484619140625
                    }
                },
                "velocity": {
                    "x": 8.419090270996094,
                    "y": -0.0500616580247879,
                    "z": -0.03483729809522629
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05060863494873,
                "transform": {
                    "location": {
                        "x": -56.356170654296875,
                        "y": 4301.30419921875,
                        "z": 372.62298583984375
                    },
                    "rotation": {
                        "roll": 0.0005821087979711592,
                        "pitch": -0.23736955225467682,
                        "yaw": -0.3591003119945526
                    }
                },
                "velocity": {
                    "x": 8.050382614135742,
                    "y": -0.0504530668258667,
                    "z": -0.032945722341537476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03682804107666,
                "transform": {
                    "location": {
                        "x": -57.81039047241211,
                        "y": 4298.06103515625,
                        "z": 372.6297912597656
                    },
                    "rotation": {
                        "roll": -0.0005187988863326609,
                        "pitch": -0.23922736942768097,
                        "yaw": -0.3589172065258026
                    }
                },
                "velocity": {
                    "x": 8.036600112915039,
                    "y": -0.050407495349645615,
                    "z": -0.033358797430992126
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.44565200805664,
                "transform": {
                    "location": {
                        "x": -134.4500732421875,
                        "y": 4298.51123046875,
                        "z": 372.938232421875
                    },
                    "rotation": {
                        "roll": 0.000404582911869511,
                        "pitch": -0.21179048717021942,
                        "yaw": -0.3371581435203552
                    }
                },
                "velocity": {
                    "x": 13.445314407348633,
                    "y": -0.07904435694217682,
                    "z": -0.05323117971420288
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.457457542419434,
                "transform": {
                    "location": {
                        "x": -125.96015167236328,
                        "y": 4301.71337890625,
                        "z": 372.91448974609375
                    },
                    "rotation": {
                        "roll": 0.0002153060195269063,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.3471374213695526
                    }
                },
                "velocity": {
                    "x": 13.457101821899414,
                    "y": -0.08236449956893921,
                    "z": -0.05288177728652954
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.694992542266846,
                "transform": {
                    "location": {
                        "x": -75.75164031982422,
                        "y": 4301.4150390625,
                        "z": 372.7070617675781
                    },
                    "rotation": {
                        "roll": 0.00017349857080262154,
                        "pitch": -0.337643563747406,
                        "yaw": -0.3429870903491974
                    }
                },
                "velocity": {
                    "x": 7.694792747497559,
                    "y": -0.04502652958035469,
                    "z": -0.03238114342093468
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01954460144043,
                "transform": {
                    "location": {
                        "x": -134.8644561767578,
                        "y": 4295.06201171875,
                        "z": 372.93408203125
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.642578125
                    }
                },
                "velocity": {
                    "x": -8.019330978393555,
                    "y": 0.05003231018781662,
                    "z": 0.03041587769985199
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.955222129821777,
                "transform": {
                    "location": {
                        "x": -63.40812301635742,
                        "y": 4294.71435546875,
                        "z": 372.65179443359375
                    },
                    "rotation": {
                        "roll": 0.0022741705179214478,
                        "pitch": 0.26266857981681824,
                        "yaw": -179.8653106689453
                    }
                },
                "velocity": {
                    "x": -4.955155372619629,
                    "y": -0.018232125788927078,
                    "z": 0.01814979501068592
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.532093048095703,
                "transform": {
                    "location": {
                        "x": -92.40492248535156,
                        "y": 4294.8154296875,
                        "z": 372.76971435546875
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.18080192804336548,
                        "yaw": 179.98660278320312
                    }
                },
                "velocity": {
                    "x": -7.5319061279296875,
                    "y": 0.043152451515197754,
                    "z": 0.030854081735014915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.284274101257324,
                "transform": {
                    "location": {
                        "x": -115.5789794921875,
                        "y": 4294.9501953125,
                        "z": 372.862060546875
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.23701438307762146,
                        "yaw": 179.62046813964844
                    }
                },
                "velocity": {
                    "x": -7.2840895652771,
                    "y": 0.043288182467222214,
                    "z": 0.02852536179125309
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.8149570822715759,
        "expert_target_speed": 0,
        "target_point": [
            51.23079129561184,
            10.433085494047818
        ],
        "target_point_next": [
            55.49840965619776,
            11.275065668806015
        ]
    },
    "415": {
        "acceleration": [
            -4.295778274536133,
            1.4874792098999023,
            0.016007982194423676
        ],
        "angular_velocity": [
            -0.1612323522567749,
            0.2979971170425415,
            -10.33347225189209
        ],
        "forward_vector": [
            -0.9685901999473572,
            0.24838845431804657,
            0.011671635322272778
        ],
        "right_vector": [
            -0.2484440952539444,
            -0.9686396718025208,
            -0.0035642392467707396
        ],
        "location": [
            -110.21851348876953,
            4292.38232421875,
            372.8418273925781
        ],
        "rotation": [
            0.2042302042245865,
            0.6687506437301636,
            165.61683654785156
        ],
        "velocity": [
            -4.586045265197754,
            1.4441925287246704,
            0.017908524721860886
        ],
        "speed": 4.808066475670537,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.545084953308105,
                "transform": {
                    "location": {
                        "x": -74.76905822753906,
                        "y": 4298.15771484375,
                        "z": 372.6988220214844
                    },
                    "rotation": {
                        "roll": 0.00029213345260359347,
                        "pitch": -0.23733539879322052,
                        "yaw": -0.3392028510570526
                    }
                },
                "velocity": {
                    "x": 8.544873237609863,
                    "y": -0.04966223984956741,
                    "z": -0.03393883630633354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082732200622559,
                "transform": {
                    "location": {
                        "x": -54.33921813964844,
                        "y": 4301.291015625,
                        "z": 372.6146545410156
                    },
                    "rotation": {
                        "roll": 0.0011824190150946379,
                        "pitch": -0.2378203421831131,
                        "yaw": -0.36358642578125
                    }
                },
                "velocity": {
                    "x": 8.082499504089355,
                    "y": -0.05142054334282875,
                    "z": -0.03338707983493805
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022154808044434,
                "transform": {
                    "location": {
                        "x": -55.80265426635742,
                        "y": 4298.04931640625,
                        "z": 372.62152099609375
                    },
                    "rotation": {
                        "roll": 0.0014283861964941025,
                        "pitch": -0.23950056731700897,
                        "yaw": -0.3610534071922302
                    }
                },
                "velocity": {
                    "x": 8.021920204162598,
                    "y": -0.05157290771603584,
                    "z": -0.0331607349216938
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.461625099182129,
                "transform": {
                    "location": {
                        "x": -131.083984375,
                        "y": 4298.49169921875,
                        "z": 372.9252014160156
                    },
                    "rotation": {
                        "roll": -0.0014038082445040345,
                        "pitch": -0.2225412130355835,
                        "yaw": -0.337066650390625
                    }
                },
                "velocity": {
                    "x": 13.46129035949707,
                    "y": -0.07920114696025848,
                    "z": -0.052455876022577286
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.457693099975586,
                "transform": {
                    "location": {
                        "x": -122.59491729736328,
                        "y": 4301.69384765625,
                        "z": 372.90130615234375
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": -0.22494544088840485,
                        "yaw": -0.3483886420726776
                    }
                },
                "velocity": {
                    "x": 13.457341194152832,
                    "y": -0.08188359439373016,
                    "z": -0.052756138145923615
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.465800285339355,
                "transform": {
                    "location": {
                        "x": -73.74468231201172,
                        "y": 4301.40283203125,
                        "z": 372.6989440917969
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.17026294767856598,
                        "yaw": -0.33270254731178284
                    }
                },
                "velocity": {
                    "x": 8.46558666229248,
                    "y": -0.049381621181964874,
                    "z": -0.0343082956969738
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -164.41827392578125,
                        "y": 4301.8388671875,
                        "z": 373.3995361328125
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07086181640625,
                "transform": {
                    "location": {
                        "x": -136.87547302246094,
                        "y": 4295.0732421875,
                        "z": 372.94183349609375
                    },
                    "rotation": {
                        "roll": -0.0004272459482308477,
                        "pitch": 0.22232264280319214,
                        "yaw": 179.6424560546875
                    }
                },
                "velocity": {
                    "x": -8.070647239685059,
                    "y": 0.050392087548971176,
                    "z": 0.030462082475423813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.434790134429932,
                "transform": {
                    "location": {
                        "x": -64.7215576171875,
                        "y": 4294.7099609375,
                        "z": 372.65740966796875
                    },
                    "rotation": {
                        "roll": 0.0027778460644185543,
                        "pitch": 0.24964340031147003,
                        "yaw": -179.80459594726562
                    }
                },
                "velocity": {
                    "x": -5.434704303741455,
                    "y": -0.021391335874795914,
                    "z": 0.021835612133145332
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.818735599517822,
                "transform": {
                    "location": {
                        "x": -94.30257415771484,
                        "y": 4294.82470703125,
                        "z": 372.7769775390625
                    },
                    "rotation": {
                        "roll": 0.00028813310200348496,
                        "pitch": 0.23107895255088806,
                        "yaw": 179.94664001464844
                    }
                },
                "velocity": {
                    "x": -7.818575859069824,
                    "y": 0.03954087942838669,
                    "z": 0.030609864741563797
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.992748260498047,
                "transform": {
                    "location": {
                        "x": -117.4930419921875,
                        "y": 4294.9619140625,
                        "z": 372.8695983886719
                    },
                    "rotation": {
                        "roll": -0.00030517560662701726,
                        "pitch": 0.24644003808498383,
                        "yaw": 179.625244140625
                    }
                },
                "velocity": {
                    "x": -7.992551803588867,
                    "y": 0.04701758921146393,
                    "z": 0.030363578349351883
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9989234209060669,
        "expert_target_speed": 5.885318827985665,
        "target_point": [
            49.57291436183018,
            13.034199225048205
        ],
        "target_point_next": [
            53.7928118261174,
            14.089643433520719
        ]
    },
    "420": {
        "acceleration": [
            -0.8546638488769531,
            -0.45508861541748047,
            -0.003093145787715912
        ],
        "angular_velocity": [
            -1.1232600212097168,
            -0.8896757960319519,
            -0.25208353996276855
        ],
        "forward_vector": [
            -0.9631704688072205,
            0.2687232196331024,
            0.009514546021819115
        ],
        "right_vector": [
            -0.26872432231903076,
            -0.9632163643836975,
            0.0011866503627970815
        ],
        "location": [
            -111.46156311035156,
            4292.74609375,
            372.8475036621094
        ],
        "rotation": [
            -0.0679931491613388,
            0.5451515316963196,
            164.41098022460938
        ],
        "velocity": [
            -5.078221797943115,
            1.4329373836517334,
            0.021569157019257545
        ],
        "speed": 5.276518376218478,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.621123313903809,
                "transform": {
                    "location": {
                        "x": -72.58898162841797,
                        "y": 4298.14501953125,
                        "z": 372.68994140625
                    },
                    "rotation": {
                        "roll": -9.155275620287284e-05,
                        "pitch": -0.23241765797138214,
                        "yaw": -0.3342895209789276
                    }
                },
                "velocity": {
                    "x": 8.620902061462402,
                    "y": -0.050080303102731705,
                    "z": -0.03612503781914711
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051069259643555,
                "transform": {
                    "location": {
                        "x": -52.32234191894531,
                        "y": 4301.27783203125,
                        "z": 372.6063232421875
                    },
                    "rotation": {
                        "roll": 0.0006203154334798455,
                        "pitch": -0.23721246421337128,
                        "yaw": -0.36248779296875
                    }
                },
                "velocity": {
                    "x": 8.050840377807617,
                    "y": -0.05087835714221001,
                    "z": -0.03314896672964096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.037418365478516,
                "transform": {
                    "location": {
                        "x": -53.79476547241211,
                        "y": 4298.03564453125,
                        "z": 372.6131896972656
                    },
                    "rotation": {
                        "roll": -0.0003662108210846782,
                        "pitch": -0.23940494656562805,
                        "yaw": -0.3629760444164276
                    }
                },
                "velocity": {
                    "x": 8.037186622619629,
                    "y": -0.05091426149010658,
                    "z": -0.033613886684179306
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.439252853393555,
                "transform": {
                    "location": {
                        "x": -127.72164154052734,
                        "y": 4298.47216796875,
                        "z": 372.9120178222656
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": -0.2254030555486679,
                        "yaw": -0.3370361328125
                    }
                },
                "velocity": {
                    "x": 13.438915252685547,
                    "y": -0.07907808572053909,
                    "z": -0.0530063770711422
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455850601196289,
                "transform": {
                    "location": {
                        "x": -119.23155975341797,
                        "y": 4301.67333984375,
                        "z": 372.8880310058594
                    },
                    "rotation": {
                        "roll": 1.0898153959715273e-05,
                        "pitch": -0.22775264084339142,
                        "yaw": -0.3509520888328552
                    }
                },
                "velocity": {
                    "x": 13.455496788024902,
                    "y": -0.08205864578485489,
                    "z": -0.052788570523262024
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.380391120910645,
                "transform": {
                    "location": {
                        "x": -71.49507904052734,
                        "y": 4301.39013671875,
                        "z": 372.68975830078125
                    },
                    "rotation": {
                        "roll": 0.00030560465529561043,
                        "pitch": -0.11135939508676529,
                        "yaw": -0.3265075385570526
                    }
                },
                "velocity": {
                    "x": 9.38016128540039,
                    "y": -0.053735747933387756,
                    "z": -0.03773175925016403
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.39852216839790344,
                "transform": {
                    "location": {
                        "x": -164.41851806640625,
                        "y": 4301.8388671875,
                        "z": 373.01617431640625
                    },
                    "rotation": {
                        "roll": 0.000799854111392051,
                        "pitch": -0.19991962611675262,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": -0.0013161080423742533,
                    "y": 0.0002061429258901626,
                    "z": -0.39851993322372437
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.859717845916748,
                "transform": {
                    "location": {
                        "x": -138.8742218017578,
                        "y": 4295.08544921875,
                        "z": 372.9495544433594
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.21355268359184265,
                        "yaw": 179.64244079589844
                    }
                },
                "velocity": {
                    "x": -7.859511375427246,
                    "y": 0.04901167377829552,
                    "z": 0.029027899727225304
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.2070817947387695,
                "transform": {
                    "location": {
                        "x": -66.20640563964844,
                        "y": 4294.7041015625,
                        "z": 372.66339111328125
                    },
                    "rotation": {
                        "roll": 0.0032290234230458736,
                        "pitch": 0.2535434365272522,
                        "yaw": -179.81414794921875
                    }
                },
                "velocity": {
                    "x": -6.207018852233887,
                    "y": -0.0113610764965415,
                    "z": 0.02556108497083187
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.343350410461426,
                "transform": {
                    "location": {
                        "x": -96.3421859741211,
                        "y": 4294.83349609375,
                        "z": 372.7850341796875
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 0.24759434163570404,
                        "yaw": 179.731689453125
                    }
                },
                "velocity": {
                    "x": -8.343154907226562,
                    "y": 0.046042393893003464,
                    "z": 0.03377337381243706
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.5474214553833,
                "transform": {
                    "location": {
                        "x": -119.63983917236328,
                        "y": 4294.97509765625,
                        "z": 372.8780517578125
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.24639905989170074,
                        "yaw": 179.58566284179688
                    }
                },
                "velocity": {
                    "x": -8.547201156616211,
                    "y": 0.05162186920642853,
                    "z": 0.03317980840802193
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 1.0000697374343872,
        "expert_target_speed": 0,
        "target_point": [
            47.99254891664122,
            14.090915743211287
        ],
        "target_point_next": [
            52.18929987766446,
            15.23493429963698
        ]
    },
    "425": {
        "acceleration": [
            -1.0144901275634766,
            -0.4958200454711914,
            -0.007542967796325684
        ],
        "angular_velocity": [
            -0.2977029085159302,
            -0.22452004253864288,
            6.773214817047119
        ],
        "forward_vector": [
            -0.967799186706543,
            0.2515449523925781,
            0.009483314119279385
        ],
        "right_vector": [
            -0.2515071630477905,
            -0.9678425192832947,
            0.005004897713661194
        ],
        "location": [
            -112.82007598876953,
            4293.09619140625,
            372.85296630859375
        ],
        "rotation": [
            -0.28677359223365784,
            0.543362021446228,
            165.4303741455078
        ],
        "velocity": [
            -5.822873592376709,
            1.3754353523254395,
            0.022168884053826332
        ],
        "speed": 5.9831161848341745,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": -1.0,
        "front_vehicle_info": null,
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.994884014129639,
                "transform": {
                    "location": {
                        "x": -70.5406265258789,
                        "y": 4298.1328125,
                        "z": 372.6815490722656
                    },
                    "rotation": {
                        "roll": -6.103522173361853e-05,
                        "pitch": -0.24881011247634888,
                        "yaw": -0.3310546576976776
                    }
                },
                "velocity": {
                    "x": 7.994686126708984,
                    "y": -0.045402877032756805,
                    "z": -0.033246155828237534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083829879760742,
                "transform": {
                    "location": {
                        "x": -50.305076599121094,
                        "y": 4301.26611328125,
                        "z": 372.5978698730469
                    },
                    "rotation": {
                        "roll": 0.00035750993993133307,
                        "pitch": -0.23861265182495117,
                        "yaw": -0.357177734375
                    }
                },
                "velocity": {
                    "x": 8.083611488342285,
                    "y": -0.04914044588804245,
                    "z": -0.03342758119106293
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.022953987121582,
                "transform": {
                    "location": {
                        "x": -51.78702926635742,
                        "y": 4298.02294921875,
                        "z": 372.6048889160156
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.2404772937297821,
                        "yaw": -0.3562012016773224
                    }
                },
                "velocity": {
                    "x": 8.022730827331543,
                    "y": -0.04980354756116867,
                    "z": -0.033293917775154114
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.414665222167969,
                "transform": {
                    "location": {
                        "x": -124.36546325683594,
                        "y": 4298.453125,
                        "z": 372.89886474609375
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": -0.2254030555486679,
                        "yaw": -0.3411254584789276
                    }
                },
                "velocity": {
                    "x": 13.414325714111328,
                    "y": -0.07973524183034897,
                    "z": -0.05229070410132408
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455507278442383,
                "transform": {
                    "location": {
                        "x": -115.86827850341797,
                        "y": 4301.65185546875,
                        "z": 372.874755859375
                    },
                    "rotation": {
                        "roll": 0.000508439086843282,
                        "pitch": -0.22741113603115082,
                        "yaw": -0.3490295112133026
                    }
                },
                "velocity": {
                    "x": 13.455153465270996,
                    "y": -0.0821433886885643,
                    "z": -0.05264320597052574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.831286430358887,
                "transform": {
                    "location": {
                        "x": -69.05257415771484,
                        "y": 4301.3759765625,
                        "z": 372.6797180175781
                    },
                    "rotation": {
                        "roll": 0.0008134093950502574,
                        "pitch": -0.1522175818681717,
                        "yaw": -0.3326415717601776
                    }
                },
                "velocity": {
                    "x": 9.831029891967773,
                    "y": -0.0578971803188324,
                    "z": -0.04111066833138466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.12622638046741486,
                "transform": {
                    "location": {
                        "x": -164.41851806640625,
                        "y": 4301.8388671875,
                        "z": 373.0329895019531
                    },
                    "rotation": {
                        "roll": 0.0012575306463986635,
                        "pitch": -0.20019283890724182,
                        "yaw": -0.33880615234375
                    }
                },
                "velocity": {
                    "x": 0.0025799465365707874,
                    "y": -0.0006978342426009476,
                    "z": 0.12619808316230774
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.526422023773193,
                "transform": {
                    "location": {
                        "x": -140.7941436767578,
                        "y": 4295.0966796875,
                        "z": 372.95697021484375
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.64251708984375
                    }
                },
                "velocity": {
                    "x": -7.526216983795166,
                    "y": 0.046975791454315186,
                    "z": 0.029602622613310814
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.305419921875,
                "transform": {
                    "location": {
                        "x": -67.90171813964844,
                        "y": 4294.70263671875,
                        "z": 372.67034912109375
                    },
                    "rotation": {
                        "roll": 0.004072269890457392,
                        "pitch": 0.2606604993343353,
                        "yaw": -179.95884704589844
                    }
                },
                "velocity": {
                    "x": -7.30535888671875,
                    "y": 0.004929047543555498,
                    "z": 0.02949235774576664
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.054054260253906,
                "transform": {
                    "location": {
                        "x": -98.6196060180664,
                        "y": 4294.845703125,
                        "z": 372.7941589355469
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.2536117434501648,
                        "yaw": 179.59275817871094
                    }
                },
                "velocity": {
                    "x": -9.053808212280273,
                    "y": 0.055498670786619186,
                    "z": 0.037153683602809906
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.137988090515137,
                "transform": {
                    "location": {
                        "x": -121.7172622680664,
                        "y": 4294.9873046875,
                        "z": 372.886474609375
                    },
                    "rotation": {
                        "roll": -0.0014343259390443563,
                        "pitch": 0.21564272046089172,
                        "yaw": 179.63865661621094
                    }
                },
                "velocity": {
                    "x": -8.137776374816895,
                    "y": 0.048293355852365494,
                    "z": 0.03339691087603569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.7504193782806396,
        "expert_target_speed": 0,
        "target_point": [
            46.83274598255349,
            13.23195658432935
        ],
        "target_point_next": [
            51.049185744205474,
            14.301130481623902
        ]
    },
    "430": {
        "acceleration": [
            -1.7977333068847656,
            -0.3484630584716797,
            0.004453472793102264
        ],
        "angular_velocity": [
            -0.1932196170091629,
            -0.12737925350666046,
            5.482863426208496
        ],
        "forward_vector": [
            -0.9738841652870178,
            0.2269468903541565,
            0.006699034478515387
        ],
        "right_vector": [
            -0.2269197404384613,
            -0.9739027619361877,
            0.004575724247843027
        ],
        "location": [
            -114.28609466552734,
            4293.431640625,
            372.8592834472656
        ],
        "rotation": [
            -0.2621764540672302,
            0.3838292956352234,
            166.88230895996094
        ],
        "velocity": [
            -5.980381488800049,
            1.2809427976608276,
            0.02208247222006321
        ],
        "speed": 6.116026259137663,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.564825057983398,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -123.7215576171875,
                4294.9990234375,
                372.8944091796875
            ],
            "velocity": [
                -7.945219993591309,
                0.0465221144258976,
                0.03253022953867912
            ],
            "speed_kmh": 28.60352203441173,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.309492111206055,
                "transform": {
                    "location": {
                        "x": -68.51288604736328,
                        "y": 4298.12158203125,
                        "z": 372.67303466796875
                    },
                    "rotation": {
                        "roll": 0.0004006063099950552,
                        "pitch": -0.23184393346309662,
                        "yaw": -0.3287353217601776
                    }
                },
                "velocity": {
                    "x": 8.30928897857666,
                    "y": -0.047679051756858826,
                    "z": -0.033103249967098236
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051294326782227,
                "transform": {
                    "location": {
                        "x": -48.28843688964844,
                        "y": 4301.25439453125,
                        "z": 372.5895080566406
                    },
                    "rotation": {
                        "roll": 0.0011143684387207031,
                        "pitch": -0.23831211030483246,
                        "yaw": -0.35052490234375
                    }
                },
                "velocity": {
                    "x": 8.05107307434082,
                    "y": -0.04930933192372322,
                    "z": -0.033440228551626205
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03734016418457,
                "transform": {
                    "location": {
                        "x": -49.77914047241211,
                        "y": 4298.01123046875,
                        "z": 372.5965576171875
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.240108460187912,
                        "yaw": -0.3513183295726776
                    }
                },
                "velocity": {
                    "x": 8.03711986541748,
                    "y": -0.04931618273258209,
                    "z": -0.03311862424015999
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416319847106934,
                "transform": {
                    "location": {
                        "x": -121.01194763183594,
                        "y": 4298.43310546875,
                        "z": 372.8856201171875
                    },
                    "rotation": {
                        "roll": 0.0003595702291931957,
                        "pitch": -0.2256762683391571,
                        "yaw": -0.3458251953125
                    }
                },
                "velocity": {
                    "x": 13.415972709655762,
                    "y": -0.08073709905147552,
                    "z": -0.05281871184706688
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455575942993164,
                "transform": {
                    "location": {
                        "x": -112.50492095947266,
                        "y": 4301.63134765625,
                        "z": 372.8614501953125
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.22659151256084442,
                        "yaw": -0.3461303114891052
                    }
                },
                "velocity": {
                    "x": 13.455225944519043,
                    "y": -0.08117779344320297,
                    "z": -0.053078167140483856
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.539697647094727,
                "transform": {
                    "location": {
                        "x": -66.7508544921875,
                        "y": 4301.36279296875,
                        "z": 372.6699523925781
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -0.3700869381427765,
                        "yaw": -0.3489990234375
                    }
                },
                "velocity": {
                    "x": 8.539468765258789,
                    "y": -0.05157352238893509,
                    "z": -0.03533627837896347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -164.4375,
                        "y": 4298.5888671875,
                        "z": 373.13494873046875
                    },
                    "rotation": {
                        "roll": -5.211051035125536e-11,
                        "pitch": -0.19540487229824066,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7985526323318481,
                "transform": {
                    "location": {
                        "x": -164.1464080810547,
                        "y": 4301.83935546875,
                        "z": 373.0491027832031
                    },
                    "rotation": {
                        "roll": -0.007995604537427425,
                        "pitch": 0.05348037928342819,
                        "yaw": -0.2375182956457138
                    }
                },
                "velocity": {
                    "x": 1.7983993291854858,
                    "y": 0.004573280923068523,
                    "z": 0.023039722815155983
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.261397838592529,
                "transform": {
                    "location": {
                        "x": -142.63819885253906,
                        "y": 4295.10888671875,
                        "z": 372.9639892578125
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": 0.19800034165382385,
                        "yaw": 179.64646911621094
                    }
                },
                "velocity": {
                    "x": -7.261203289031982,
                    "y": 0.044830072671175,
                    "z": 0.028541382402181625
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.173272132873535,
                "transform": {
                    "location": {
                        "x": -69.84406280517578,
                        "y": 4294.7041015625,
                        "z": 372.6783447265625
                    },
                    "rotation": {
                        "roll": 0.0020531362388283014,
                        "pitch": 0.2570951282978058,
                        "yaw": 179.94215393066406
                    }
                },
                "velocity": {
                    "x": -8.173192977905273,
                    "y": 0.011827170848846436,
                    "z": 0.033897437155246735
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.735942840576172,
                "transform": {
                    "location": {
                        "x": -100.71812438964844,
                        "y": 4294.85888671875,
                        "z": 372.8031921386719
                    },
                    "rotation": {
                        "roll": 0.0006301326211541891,
                        "pitch": 0.19677774608135223,
                        "yaw": 179.55479431152344
                    }
                },
                "velocity": {
                    "x": -7.73571252822876,
                    "y": 0.05057309567928314,
                    "z": 0.03178272023797035
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.945422649383545,
                "transform": {
                    "location": {
                        "x": -123.7215576171875,
                        "y": 4294.9990234375,
                        "z": 372.8944091796875
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.21691995859146118,
                        "yaw": 179.64991760253906
                    }
                },
                "velocity": {
                    "x": -7.945219993591309,
                    "y": 0.0465221144258976,
                    "z": 0.03253022953867912
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.33929967880249023,
        "expert_target_speed": 7.049705964234814,
        "target_point": [
            45.64908993903909,
            12.035025465198
        ],
        "target_point_next": [
            49.891267014085884,
            12.997018578605402
        ]
    },
    "435": {
        "acceleration": [
            -3.1864356994628906,
            -0.3961801528930664,
            -0.00935915857553482
        ],
        "angular_velocity": [
            -0.2038680911064148,
            0.5467665195465088,
            7.953084468841553
        ],
        "forward_vector": [
            -0.9800825119018555,
            0.19842658936977386,
            0.00807157251983881
        ],
        "right_vector": [
            -0.1983829140663147,
            -0.9801068902015686,
            0.005900273565202951
        ],
        "location": [
            -115.86288452148438,
            4293.74658203125,
            372.86517333984375
        ],
        "rotation": [
            -0.3380737602710724,
            0.4624720811843872,
            168.55465698242188
        ],
        "velocity": [
            -6.684747695922852,
            1.195550560951233,
            0.02548006922006607
        ],
        "speed": 6.790816806683617,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.925653457641602,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -125.70757293701172,
                4295.01123046875,
                372.9021301269531
            ],
            "velocity": [
                -7.964255332946777,
                0.04595322906970978,
                0.03128339722752571
            ],
            "speed_kmh": 28.67201763962792,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.583002090454102,
                "transform": {
                    "location": {
                        "x": -66.3714828491211,
                        "y": 4298.10986328125,
                        "z": 372.6642761230469
                    },
                    "rotation": {
                        "roll": 0.00015519815497100353,
                        "pitch": -0.22979487478733063,
                        "yaw": -0.3314819633960724
                    }
                },
                "velocity": {
                    "x": 8.58278751373291,
                    "y": -0.049662232398986816,
                    "z": -0.0349559411406517
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084567070007324,
                "transform": {
                    "location": {
                        "x": -46.27156066894531,
                        "y": 4301.24267578125,
                        "z": 372.5811767578125
                    },
                    "rotation": {
                        "roll": 0.0011620327131822705,
                        "pitch": -0.2386399656534195,
                        "yaw": -0.3511352837085724
                    }
                },
                "velocity": {
                    "x": 8.084342956542969,
                    "y": -0.05042310059070587,
                    "z": -0.033079080283641815
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.02214241027832,
                "transform": {
                    "location": {
                        "x": -47.77140426635742,
                        "y": 4297.99951171875,
                        "z": 372.58819580078125
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.2409963756799698,
                        "yaw": -0.3511351943016052
                    }
                },
                "velocity": {
                    "x": 8.021925926208496,
                    "y": -0.04915996268391609,
                    "z": -0.03248598054051399
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.408906936645508,
                "transform": {
                    "location": {
                        "x": -117.6594467163086,
                        "y": 4298.41357421875,
                        "z": 372.8724060058594
                    },
                    "rotation": {
                        "roll": 0.0005343615193851292,
                        "pitch": -0.22692619264125824,
                        "yaw": -0.3464049696922302
                    }
                },
                "velocity": {
                    "x": 13.40855884552002,
                    "y": -0.08099450916051865,
                    "z": -0.05270420014858246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455801010131836,
                "transform": {
                    "location": {
                        "x": -109.14171600341797,
                        "y": 4301.61181640625,
                        "z": 372.8480529785156
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": -0.22872936725616455,
                        "yaw": -0.3385010063648224
                    }
                },
                "velocity": {
                    "x": 13.455458641052246,
                    "y": -0.08005629479885101,
                    "z": -0.052990034222602844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.100954055786133,
                "transform": {
                    "location": {
                        "x": -64.7153091430664,
                        "y": 4301.3505859375,
                        "z": 372.6615905761719
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.32354605197906494,
                        "yaw": -0.3509215712547302
                    }
                },
                "velocity": {
                    "x": 8.100733757019043,
                    "y": -0.04952796921133995,
                    "z": -0.03338618203997612
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2316795289516449,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 373.00335693359375
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.19628596305847168,
                        "yaw": -0.338531494140625
                    }
                },
                "velocity": {
                    "x": 0.0007940218201838434,
                    "y": -2.924914406321477e-05,
                    "z": 0.23167817294597626
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2928922176361084,
                "transform": {
                    "location": {
                        "x": -163.5109405517578,
                        "y": 4301.84130859375,
                        "z": 373.0500183105469
                    },
                    "rotation": {
                        "roll": -0.008880615234375,
                        "pitch": 0.09813614934682846,
                        "yaw": -0.082244873046875
                    }
                },
                "velocity": {
                    "x": 3.29286527633667,
                    "y": 0.01166431326419115,
                    "z": -0.006405353546142578
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.089779376983643,
                "transform": {
                    "location": {
                        "x": -144.43382263183594,
                        "y": 4295.1201171875,
                        "z": 372.970703125
                    },
                    "rotation": {
                        "roll": 0.0004109699802938849,
                        "pitch": 0.19899071753025055,
                        "yaw": 179.6468048095703
                    }
                },
                "velocity": {
                    "x": -7.089600086212158,
                    "y": 0.043681252747774124,
                    "z": 0.025157708674669266
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.912007331848145,
                "transform": {
                    "location": {
                        "x": -71.98320007324219,
                        "y": 4294.70751953125,
                        "z": 372.6871032714844
                    },
                    "rotation": {
                        "roll": 0.000491830927785486,
                        "pitch": 0.2552783191204071,
                        "yaw": 179.88682556152344
                    }
                },
                "velocity": {
                    "x": -8.91189956665039,
                    "y": 0.024831347167491913,
                    "z": 0.036195944994688034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.105868816375732,
                "transform": {
                    "location": {
                        "x": -102.46804809570312,
                        "y": 4294.87060546875,
                        "z": 372.8103942871094
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.18071997165679932,
                        "yaw": 179.60092163085938
                    }
                },
                "velocity": {
                    "x": -6.1056952476501465,
                    "y": 0.038982417434453964,
                    "z": 0.02452683448791504
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.964449405670166,
                "transform": {
                    "location": {
                        "x": -125.70757293701172,
                        "y": 4295.01123046875,
                        "z": 372.9021301269531
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": 0.2249659299850464,
                        "yaw": 179.6855010986328
                    }
                },
                "velocity": {
                    "x": -7.964255332946777,
                    "y": 0.04595322906970978,
                    "z": 0.03128339722752571
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02176188863813877,
        "expert_target_speed": 7.6188180173056566,
        "target_point": [
            44.37294700972578,
            10.693467684363911
        ],
        "target_point_next": [
            48.64139197336198,
            11.53124729661559
        ]
    },
    "440": {
        "acceleration": [
            -2.2248172760009766,
            -0.8277654647827148,
            0.017346180975437164
        ],
        "angular_velocity": [
            -0.1074468344449997,
            -0.16737110912799835,
            11.460172653198242
        ],
        "forward_vector": [
            -0.9883427023887634,
            0.15198300778865814,
            0.008936523459851742
        ],
        "right_vector": [
            -0.15190766751766205,
            -0.988357424736023,
            0.00858238898217678
        ],
        "location": [
            -117.63648223876953,
            4294.01953125,
            372.8719482421875
        ],
        "rotation": [
            -0.4917603135108948,
            0.5120319128036499,
            171.25778198242188
        ],
        "velocity": [
            -7.395316123962402,
            0.931092381477356,
            0.029334047809243202
        ],
        "speed": 7.453699322898896,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.120562553405762,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -127.70710754394531,
                4295.02294921875,
                372.909912109375
            ],
            "velocity": [
                -8.02182388305664,
                0.046016741544008255,
                0.03068462386727333
            ],
            "speed_kmh": 28.879252392792143,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.375121116638184,
                "transform": {
                    "location": {
                        "x": -64.2347640991211,
                        "y": 4298.09814453125,
                        "z": 372.65557861328125
                    },
                    "rotation": {
                        "roll": 0.0005617360002361238,
                        "pitch": -0.23922736942768097,
                        "yaw": -0.3351439833641052
                    }
                },
                "velocity": {
                    "x": 8.374905586242676,
                    "y": -0.04898398742079735,
                    "z": -0.034782372415065765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -44.202186584472656,
                        "y": 4301.20263671875,
                        "z": 372.5740051269531
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -45.73711013793945,
                        "y": 4297.93408203125,
                        "z": 372.5821533203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416359901428223,
                "transform": {
                    "location": {
                        "x": -114.30686950683594,
                        "y": 4298.39404296875,
                        "z": 372.859130859375
                    },
                    "rotation": {
                        "roll": 0.00035214662784710526,
                        "pitch": -0.2264958918094635,
                        "yaw": -0.3478698432445526
                    }
                },
                "velocity": {
                    "x": 13.416003227233887,
                    "y": -0.08241184800863266,
                    "z": -0.052825041115283966
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455812454223633,
                "transform": {
                    "location": {
                        "x": -105.77843475341797,
                        "y": 4301.59228515625,
                        "z": 372.8346862792969
                    },
                    "rotation": {
                        "roll": 0.000406460661906749,
                        "pitch": -0.2297675460577011,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 13.455474853515625,
                    "y": -0.07949942350387573,
                    "z": -0.052712127566337585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.74819564819336,
                "transform": {
                    "location": {
                        "x": -62.59562301635742,
                        "y": 4301.33740234375,
                        "z": 372.6531066894531
                    },
                    "rotation": {
                        "roll": 0.00010663208377081901,
                        "pitch": -0.1769701987504959,
                        "yaw": -0.3467406928539276
                    }
                },
                "velocity": {
                    "x": 8.74795913696289,
                    "y": -0.05311795696616173,
                    "z": -0.03630305081605911
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09134802967309952,
                "transform": {
                    "location": {
                        "x": -164.43788146972656,
                        "y": 4298.5888671875,
                        "z": 373.0498352050781
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.1963815838098526,
                        "yaw": -0.3385924994945526
                    }
                },
                "velocity": {
                    "x": 0.0003181937208864838,
                    "y": 4.917603655485436e-05,
                    "z": 0.09134746342897415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.8285322189331055,
                "transform": {
                    "location": {
                        "x": -162.4805450439453,
                        "y": 4301.845703125,
                        "z": 373.0469055175781
                    },
                    "rotation": {
                        "roll": -0.008575438521802425,
                        "pitch": 0.11902286857366562,
                        "yaw": 0.09285162389278412
                    }
                },
                "velocity": {
                    "x": 4.828454971313477,
                    "y": 0.022225268185138702,
                    "z": -0.01579306647181511
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.737105369567871,
                "transform": {
                    "location": {
                        "x": -146.15928649902344,
                        "y": 4295.13037109375,
                        "z": 372.97711181640625
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.19535022974014282,
                        "yaw": 179.6469268798828
                    }
                },
                "velocity": {
                    "x": -6.736930847167969,
                    "y": 0.04151631146669388,
                    "z": 0.025000074878335
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.73766803741455,
                "transform": {
                    "location": {
                        "x": -74.31812286376953,
                        "y": 4294.71533203125,
                        "z": 372.6967468261719
                    },
                    "rotation": {
                        "roll": 0.0025637145154178143,
                        "pitch": 0.25519633293151855,
                        "yaw": 179.7935028076172
                    }
                },
                "velocity": {
                    "x": -9.737512588500977,
                    "y": 0.03801487013697624,
                    "z": 0.03980037569999695
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5548511147499084,
                "transform": {
                    "location": {
                        "x": -103.26046752929688,
                        "y": 4294.8759765625,
                        "z": 372.8143005371094
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.07132766395807266,
                        "yaw": 179.69760131835938
                    }
                },
                "velocity": {
                    "x": -0.5548379421234131,
                    "y": 0.0023837685585021973,
                    "z": 0.0029895782936364412
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022014617919922,
                "transform": {
                    "location": {
                        "x": -127.70710754394531,
                        "y": 4295.02294921875,
                        "z": 372.909912109375
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": 0.22693301737308502,
                        "yaw": 179.66439819335938
                    }
                },
                "velocity": {
                    "x": -8.02182388305664,
                    "y": 0.046016741544008255,
                    "z": 0.03068462386727333
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.32937055826187134,
        "expert_target_speed": 8.151315755973407,
        "target_point": [
            43.03340825174784,
            8.589117859424842
        ],
        "target_point_next": [
            47.336614098155266,
            9.22466213777279
        ]
    },
    "445": {
        "acceleration": [
            -0.8339691162109375,
            0.6807947158813477,
            -0.01260455697774887
        ],
        "angular_velocity": [
            1.069399356842041,
            -0.47370001673698425,
            -2.4897539615631104
        ],
        "forward_vector": [
            -0.9903761744499207,
            0.13819235563278198,
            0.007614776957780123
        ],
        "right_vector": [
            -0.13818176090717316,
            -0.9904050827026367,
            0.001903038239106536
        ],
        "location": [
            -119.52632904052734,
            4294.27978515625,
            372.8797607421875
        ],
        "rotation": [
            -0.1090392917394638,
            0.43629878759384155,
            172.05650329589844
        ],
        "velocity": [
            -7.699687957763672,
            1.1195522546768188,
            0.02913314662873745
        ],
        "speed": 7.780654978720163,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.214715957641602,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -129.71304321289062,
                4295.03466796875,
                372.9177551269531
            ],
            "velocity": [
                -8.021251678466797,
                0.04616590961813927,
                0.03222472220659256
            ],
            "speed_kmh": 28.877217332069446,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.107084274291992,
                "transform": {
                    "location": {
                        "x": -62.18109130859375,
                        "y": 4298.0859375,
                        "z": 372.6470947265625
                    },
                    "rotation": {
                        "roll": 0.0003165678645018488,
                        "pitch": -0.2439880073070526,
                        "yaw": -0.3433837890625
                    }
                },
                "velocity": {
                    "x": 8.10687255859375,
                    "y": -0.048581961542367935,
                    "z": -0.032939329743385315
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11457,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -42.11976623535156,
                        "y": 4301.14501953125,
                        "z": 372.5677185058594
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -43.65390396118164,
                        "y": 4297.90234375,
                        "z": 372.5743408203125
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.409708023071289,
                "transform": {
                    "location": {
                        "x": -110.95437622070312,
                        "y": 4298.37451171875,
                        "z": 372.8458251953125
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": -0.22741113603115082,
                        "yaw": -0.351043701171875
                    }
                },
                "velocity": {
                    "x": 13.409351348876953,
                    "y": -0.08201667666435242,
                    "z": -0.05326901003718376
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.45588207244873,
                "transform": {
                    "location": {
                        "x": -102.41515350341797,
                        "y": 4301.5732421875,
                        "z": 372.8211669921875
                    },
                    "rotation": {
                        "roll": 6.791223131585866e-05,
                        "pitch": -0.22958312928676605,
                        "yaw": -0.3363036811351776
                    }
                },
                "velocity": {
                    "x": 13.455544471740723,
                    "y": -0.07931159436702728,
                    "z": -0.052873093634843826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.128800392150879,
                "transform": {
                    "location": {
                        "x": -60.48835754394531,
                        "y": 4301.32470703125,
                        "z": 372.6441345214844
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.2946475148200989,
                        "yaw": -0.3473511040210724
                    }
                },
                "velocity": {
                    "x": 8.128586769104004,
                    "y": -0.04843395575881004,
                    "z": -0.03376457467675209
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.147233247756958,
                "transform": {
                    "location": {
                        "x": -164.20999145507812,
                        "y": 4298.58935546875,
                        "z": 373.0582275390625
                    },
                    "rotation": {
                        "roll": 0.005221856292337179,
                        "pitch": -0.3842732608318329,
                        "yaw": -0.2715758979320526
                    }
                },
                "velocity": {
                    "x": 2.1471879482269287,
                    "y": 0.01271321065723896,
                    "z": -0.005720309913158417
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.548924446105957,
                "transform": {
                    "location": {
                        "x": -161.1511688232422,
                        "y": 4301.8525390625,
                        "z": 373.0426025390625
                    },
                    "rotation": {
                        "roll": -0.007843017578125,
                        "pitch": -0.01846200041472912,
                        "yaw": 0.23039299249649048
                    }
                },
                "velocity": {
                    "x": 5.548800468444824,
                    "y": 0.03240128606557846,
                    "z": -0.018077058717608452
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.605779647827148,
                "transform": {
                    "location": {
                        "x": -147.82522583007812,
                        "y": 4295.14013671875,
                        "z": 372.9833068847656
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.20003573596477509,
                        "yaw": 179.6511688232422
                    }
                },
                "velocity": {
                    "x": -6.605617523193359,
                    "y": 0.038679175078868866,
                    "z": 0.025461196899414062
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.549226760864258,
                "transform": {
                    "location": {
                        "x": -76.85655975341797,
                        "y": 4294.7255859375,
                        "z": 372.7072448730469
                    },
                    "rotation": {
                        "roll": 0.0015321307582780719,
                        "pitch": 0.25578373670578003,
                        "yaw": 179.73934936523438
                    }
                },
                "velocity": {
                    "x": -10.54902172088623,
                    "y": 0.050130121409893036,
                    "z": 0.04255986213684082
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8017221689224243,
                "transform": {
                    "location": {
                        "x": -103.3680419921875,
                        "y": 4294.876953125,
                        "z": 372.81378173828125
                    },
                    "rotation": {
                        "roll": 6.439919525291771e-05,
                        "pitch": 0.19219468533992767,
                        "yaw": 179.73297119140625
                    }
                },
                "velocity": {
                    "x": -0.8017018437385559,
                    "y": 0.005505240056663752,
                    "z": 0.0015314292395487428
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021449089050293,
                "transform": {
                    "location": {
                        "x": -129.71304321289062,
                        "y": 4295.03466796875,
                        "z": 372.9177551269531
                    },
                    "rotation": {
                        "roll": 0.0008260167669504881,
                        "pitch": 0.2252323031425476,
                        "yaw": 179.68270874023438
                    }
                },
                "velocity": {
                    "x": -8.021251678466797,
                    "y": 0.04616590961813927,
                    "z": 0.03222472220659256
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2225838154554367,
        "expert_target_speed": 8.401556951854305,
        "target_point": [
            41.241278631454165,
            7.984989705246486
        ],
        "target_point_next": [
            45.55292577011501,
            8.560486045785309
        ]
    },
    "450": {
        "acceleration": [
            -1.5598869323730469,
            -1.0363483428955078,
            0.013349354267120361
        ],
        "angular_velocity": [
            -1.046426773071289,
            0.06359776109457016,
            4.689032554626465
        ],
        "forward_vector": [
            -0.9903637766838074,
            0.13832592964172363,
            0.006751366425305605
        ],
        "right_vector": [
            -0.13830843567848206,
            -0.9903846979141235,
            0.002994917333126068
        ],
        "location": [
            -121.49085998535156,
            4294.55810546875,
            372.8877258300781
        ],
        "rotation": [
            -0.17160028219223022,
            0.3868277370929718,
            172.048828125
        ],
        "velocity": [
            -8.015929222106934,
            1.0300346612930298,
            0.030510997399687767
        ],
        "speed": 8.081837210516735,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.2368803024292,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -131.7160186767578,
                4295.04638671875,
                372.9256286621094
            ],
            "velocity": [
                -8.00460433959961,
                0.04606445133686066,
                0.03292739763855934
            ],
            "speed_kmh": 28.81729658171025,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.116157531738281,
                "transform": {
                    "location": {
                        "x": -60.166717529296875,
                        "y": 4298.07470703125,
                        "z": 372.638671875
                    },
                    "rotation": {
                        "roll": -3.051756357308477e-05,
                        "pitch": -0.23788180947303772,
                        "yaw": -0.3467101454734802
                    }
                },
                "velocity": {
                    "x": 8.115938186645508,
                    "y": -0.04931332543492317,
                    "z": -0.03361395746469498
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11456,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -41.570701599121094,
                        "y": 4297.8701171875,
                        "z": 372.5665588378906
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23898831009864807,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416850090026855,
                "transform": {
                    "location": {
                        "x": -107.60187530517578,
                        "y": 4298.35302734375,
                        "z": 372.83245849609375
                    },
                    "rotation": {
                        "roll": -3.0517647246597335e-05,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3543090522289276
                    }
                },
                "velocity": {
                    "x": 13.416495323181152,
                    "y": -0.08180629462003708,
                    "z": -0.052937328815460205
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455835342407227,
                "transform": {
                    "location": {
                        "x": -99.05187225341797,
                        "y": 4301.55322265625,
                        "z": 372.80755615234375
                    },
                    "rotation": {
                        "roll": -0.0003662110830191523,
                        "pitch": -0.23218543827533722,
                        "yaw": -0.338287353515625
                    }
                },
                "velocity": {
                    "x": 13.455496788024902,
                    "y": -0.07924093306064606,
                    "z": -0.05291840806603432
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.49113655090332,
                "transform": {
                    "location": {
                        "x": -58.43703079223633,
                        "y": 4301.3125,
                        "z": 372.6357727050781
                    },
                    "rotation": {
                        "roll": 0.0010908505646511912,
                        "pitch": -0.20812951028347015,
                        "yaw": -0.34539794921875
                    }
                },
                "velocity": {
                    "x": 8.490912437438965,
                    "y": -0.051269903779029846,
                    "z": -0.03425674885511398
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3771097660064697,
                "transform": {
                    "location": {
                        "x": -163.50241088867188,
                        "y": 4298.59228515625,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": 0.0029311184771358967,
                        "pitch": -0.3437224328517914,
                        "yaw": -0.0915527418255806
                    }
                },
                "velocity": {
                    "x": 3.377018451690674,
                    "y": 0.02062509022653103,
                    "z": -0.013831262476742268
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.4433465003967285,
                "transform": {
                    "location": {
                        "x": -159.66421508789062,
                        "y": 4301.85791015625,
                        "z": 373.03741455078125
                    },
                    "rotation": {
                        "roll": 0.01193032693117857,
                        "pitch": -0.0516362264752388,
                        "yaw": 0.11419962346553802
                    }
                },
                "velocity": {
                    "x": 6.44330358505249,
                    "y": 0.008861714042723179,
                    "z": -0.02178216353058815
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.313085556030273,
                "transform": {
                    "location": {
                        "x": -149.4402313232422,
                        "y": 4295.150390625,
                        "z": 372.9892578125
                    },
                    "rotation": {
                        "roll": 0.00020609257626347244,
                        "pitch": 0.19601958990097046,
                        "yaw": 179.65328979492188
                    }
                },
                "velocity": {
                    "x": -6.312929630279541,
                    "y": 0.038227666169404984,
                    "z": 0.02254355326294899
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.199899673461914,
                "transform": {
                    "location": {
                        "x": -79.60179138183594,
                        "y": 4294.7392578125,
                        "z": 372.7186279296875
                    },
                    "rotation": {
                        "roll": 0.00031495452276431024,
                        "pitch": 0.2540625333786011,
                        "yaw": 179.69577026367188
                    }
                },
                "velocity": {
                    "x": -11.199654579162598,
                    "y": 0.05886059254407883,
                    "z": 0.044956281781196594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3303029537200928,
                "transform": {
                    "location": {
                        "x": -103.63819885253906,
                        "y": 4294.8798828125,
                        "z": 372.814208984375
                    },
                    "rotation": {
                        "roll": 0.0008920205873437226,
                        "pitch": 0.24727332592010498,
                        "yaw": 179.82440185546875
                    }
                },
                "velocity": {
                    "x": -1.3302732706069946,
                    "y": 0.007310075219720602,
                    "z": 0.005060853902250528
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.004804611206055,
                "transform": {
                    "location": {
                        "x": -131.7160186767578,
                        "y": 4295.04638671875,
                        "z": 372.9256286621094
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.2251298576593399,
                        "yaw": 179.6591339111328
                    }
                },
                "velocity": {
                    "x": -8.00460433959961,
                    "y": 0.04606445133686066,
                    "z": 0.03292739763855934
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.016486940905451775,
        "expert_target_speed": 8.624106987909903,
        "target_point": [
            39.256063974712376,
            7.994408811696763
        ],
        "target_point_next": [
            43.567633963199434,
            8.570482870020552
        ]
    },
    "455": {
        "acceleration": [
            -0.9177207946777344,
            -0.3958582878112793,
            0.017465800046920776
        ],
        "angular_velocity": [
            0.09915956854820251,
            -0.09335548430681229,
            4.820878505706787
        ],
        "forward_vector": [
            -0.9935522079467773,
            0.11319472640752792,
            0.006394461262971163
        ],
        "right_vector": [
            -0.11316749453544617,
            -0.9935657978057861,
            0.00447240611538291
        ],
        "location": [
            -123.53195190429688,
            4294.7958984375,
            372.8957214355469
        ],
        "rotation": [
            -0.2562560737133026,
            0.36637815833091736,
            173.50035095214844
        ],
        "velocity": [
            -8.305243492126465,
            0.874276340007782,
            0.033566683530807495
        ],
        "speed": 8.351133371118342,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.182661056518555,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -133.71116638183594,
                4295.05810546875,
                372.9334716796875
            ],
            "velocity": [
                -7.86359167098999,
                0.04538388177752495,
                0.03126830980181694
            ],
            "speed_kmh": 28.30962527800291,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -226.07492065429688,
                        "y": 4298.953125,
                        "z": 373.5931091308594
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -226.05569458007812,
                        "y": 4302.203125,
                        "z": 373.5931091308594
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.56468200683594,
                        "y": 4349.0908203125,
                        "z": 373.1394348144531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.03107052855193615,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.31280517578125,
                        "y": 4244.94775390625,
                        "z": 372.95013427734375
                    },
                    "rotation": {
                        "roll": 1.3340319071630802e-08,
                        "pitch": 0.22839468717575073,
                        "yaw": 90.55499267578125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": -64.60187530517578,
                        "y": 4294.74853515625,
                        "z": 373.0084228515625
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.1092071533203,
                        "y": 4292.39404296875,
                        "z": 373.3887939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.22043068706989288,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.10890197753906,
                        "y": 4292.48291015625,
                        "z": 373.44677734375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.720847129821777,
                "transform": {
                    "location": {
                        "x": -58.065311431884766,
                        "y": 4298.06201171875,
                        "z": 372.6299133300781
                    },
                    "rotation": {
                        "roll": -0.0003356934175826609,
                        "pitch": -0.22589483857154846,
                        "yaw": -0.3480529487133026
                    }
                },
                "velocity": {
                    "x": 8.720614433288574,
                    "y": -0.05296837538480759,
                    "z": -0.03537513688206673
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.08999633789062,
                        "y": 4295.64404296875,
                        "z": 373.3887939453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.22043068706989288,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.08984375,
                        "y": 4295.73291015625,
                        "z": 373.44677734375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.409891128540039,
                "transform": {
                    "location": {
                        "x": -104.24937438964844,
                        "y": 4298.33349609375,
                        "z": 372.819091796875
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": -0.22948750853538513,
                        "yaw": -0.345458984375
                    }
                },
                "velocity": {
                    "x": 13.409542083740234,
                    "y": -0.0811353549361229,
                    "z": -0.05272144824266434
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.455926895141602,
                "transform": {
                    "location": {
                        "x": -95.68859100341797,
                        "y": 4301.53369140625,
                        "z": 372.7939758300781
                    },
                    "rotation": {
                        "roll": 0.0006608311086893082,
                        "pitch": -0.23251329362392426,
                        "yaw": -0.3389587104320526
                    }
                },
                "velocity": {
                    "x": 13.455585479736328,
                    "y": -0.07992078363895416,
                    "z": -0.05302625522017479
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.618830680847168,
                "transform": {
                    "location": {
                        "x": -56.17195129394531,
                        "y": 4301.298828125,
                        "z": 372.6265869140625
                    },
                    "rotation": {
                        "roll": 0.00027918172418139875,
                        "pitch": -0.09484399855136871,
                        "yaw": -0.339080810546875
                    }
                },
                "velocity": {
                    "x": 9.61858081817627,
                    "y": -0.05734099820256233,
                    "z": -0.03895462304353714
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.511556625366211,
                "transform": {
                    "location": {
                        "x": -162.51046752929688,
                        "y": 4298.5966796875,
                        "z": 373.0508117675781
                    },
                    "rotation": {
                        "roll": 0.000361108424840495,
                        "pitch": -0.31542494893074036,
                        "yaw": 0.07758112251758575
                    }
                },
                "velocity": {
                    "x": 4.511449813842773,
                    "y": 0.02738090045750141,
                    "z": -0.0145740220323205
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.632950782775879,
                "transform": {
                    "location": {
                        "x": -157.7301483154297,
                        "y": 4301.8583984375,
                        "z": 373.0306701660156
                    },
                    "rotation": {
                        "roll": 0.008479789830744267,
                        "pitch": 0.174825519323349,
                        "yaw": 0.01822792738676071
                    }
                },
                "velocity": {
                    "x": 8.632899284362793,
                    "y": 0.0011305385269224644,
                    "z": -0.02972838282585144
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.138559818267822,
                "transform": {
                    "location": {
                        "x": -150.99444580078125,
                        "y": 4295.15966796875,
                        "z": 372.9949035644531
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": 0.18980412185192108,
                        "yaw": 179.6627960205078
                    }
                },
                "velocity": {
                    "x": -6.138424396514893,
                    "y": 0.03482082858681679,
                    "z": 0.021181534975767136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.054808616638184,
                "transform": {
                    "location": {
                        "x": -82.38296508789062,
                        "y": 4294.7548828125,
                        "z": 372.7301330566406
                    },
                    "rotation": {
                        "roll": 0.0005068647442385554,
                        "pitch": 0.23714415729045868,
                        "yaw": 179.68685913085938
                    }
                },
                "velocity": {
                    "x": -11.054550170898438,
                    "y": 0.06069301813840866,
                    "z": 0.04493182152509689
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8586517572402954,
                "transform": {
                    "location": {
                        "x": -104.04210662841797,
                        "y": 4294.8818359375,
                        "z": 372.8158874511719
                    },
                    "rotation": {
                        "roll": 0.0005634409026242793,
                        "pitch": 0.24816125631332397,
                        "yaw": 179.80323791503906
                    }
                },
                "velocity": {
                    "x": -1.858610987663269,
                    "y": 0.010480851866304874,
                    "z": 0.006449756678193808
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.8637847900390625,
                "transform": {
                    "location": {
                        "x": -133.71116638183594,
                        "y": 4295.05810546875,
                        "z": 372.9334716796875
                    },
                    "rotation": {
                        "roll": -0.00021362309053074569,
                        "pitch": 0.22019845247268677,
                        "yaw": 179.68052673339844
                    }
                },
                "velocity": {
                    "x": -7.86359167098999,
                    "y": 0.04538388177752495,
                    "z": 0.03126830980181694
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06170117110013962,
        "expert_target_speed": 0,
        "target_point": [
            37.39108462926278,
            7.002660769079114
        ],
        "target_point_next": [
            41.715863727786704,
            7.469332854452151
        ]
    },
    "460": {
        "acceleration": [
            0.13408660888671875,
            -1.1965429782867432,
            0.005657747387886047
        ],
        "angular_velocity": [
            -0.4374476373195648,
            -0.3701323866844177,
            7.146971225738525
        ],
        "forward_vector": [
            -0.9961143136024475,
            0.08786275237798691,
            0.006029211450368166
        ],
        "right_vector": [
            -0.08782762289047241,
            -0.996118426322937,
            0.005864140577614307
        ],
        "location": [
            -125.64656066894531,
            4294.9921875,
            372.9042053222656
        ],
        "rotation": [
            -0.33599853515625,
            0.3454504609107971,
            174.95924377441406
        ],
        "velocity": [
            -8.529764175415039,
            0.6414951682090759,
            0.03337564319372177
        ],
        "speed": 8.553852520299223,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.84511661529541,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -135.49131774902344,
                4295.06787109375,
                372.9408264160156
            ],
            "velocity": [
                -6.096912860870361,
                0.035735953599214554,
                0.024041881784796715
            ],
            "speed_kmh": 21.949433967313038,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -224.01422119140625,
                        "y": 4298.94091796875,
                        "z": 373.3177795410156
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.9949951171875,
                        "y": 4302.19091796875,
                        "z": 373.3177795410156
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.56655883789062,
                        "y": 4347.00830078125,
                        "z": 373.1346740722656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.016781773418188095,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.325927734375,
                        "y": 4247.0302734375,
                        "z": 372.9527282714844
                    },
                    "rotation": {
                        "roll": -6.670153762655673e-09,
                        "pitch": 0.21594324707984924,
                        "yaw": 90.13084411621094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.44912227988243103,
                "transform": {
                    "location": {
                        "x": -64.60226440429688,
                        "y": 4294.74853515625,
                        "z": 372.61328125
                    },
                    "rotation": {
                        "roll": 0.0018395804800093174,
                        "pitch": 0.23646113276481628,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -0.0018430607160553336,
                    "y": 3.304340225440683e-06,
                    "z": -0.4491184949874878
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.35797119140625,
                        "y": 4292.4013671875,
                        "z": 373.3309020996094
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.444735527038574,
                "transform": {
                    "location": {
                        "x": -55.793357849121094,
                        "y": 4298.0478515625,
                        "z": 372.6204528808594
                    },
                    "rotation": {
                        "roll": -0.0013732908992096782,
                        "pitch": -0.21996623277664185,
                        "yaw": -0.350677490234375
                    }
                },
                "velocity": {
                    "x": 9.444479942321777,
                    "y": -0.05805838853120804,
                    "z": -0.03807486966252327
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.92250061035156,
                        "y": 4295.64892578125,
                        "z": 373.3501892089844
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.416905403137207,
                "transform": {
                    "location": {
                        "x": -100.89679718017578,
                        "y": 4298.3134765625,
                        "z": 372.80560302734375
                    },
                    "rotation": {
                        "roll": 0.00044788242666982114,
                        "pitch": -0.23017053306102753,
                        "yaw": -0.3446654975414276
                    }
                },
                "velocity": {
                    "x": 13.416557312011719,
                    "y": -0.08079876005649567,
                    "z": -0.05298784747719765
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.456015586853027,
                "transform": {
                    "location": {
                        "x": -92.32530975341797,
                        "y": 4301.51416015625,
                        "z": 372.78033447265625
                    },
                    "rotation": {
                        "roll": 0.0005349384737201035,
                        "pitch": -0.23241765797138214,
                        "yaw": -0.34655752778053284
                    }
                },
                "velocity": {
                    "x": 13.455667495727539,
                    "y": -0.08088503032922745,
                    "z": -0.05314970389008522
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -53.28156280517578,
                        "y": 4301.24609375,
                        "z": 372.6150207519531
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.201868534088135,
                "transform": {
                    "location": {
                        "x": -161.25686645507812,
                        "y": 4298.603515625,
                        "z": 373.046630859375
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.28119203448295593,
                        "yaw": 0.20400075614452362
                    }
                },
                "velocity": {
                    "x": 5.201743125915527,
                    "y": 0.031616900116205215,
                    "z": -0.01753656379878521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.360274314880371,
                "transform": {
                    "location": {
                        "x": -155.4442901611328,
                        "y": 4301.85888671875,
                        "z": 373.0225830078125
                    },
                    "rotation": {
                        "roll": 0.00045915995724499226,
                        "pitch": 0.004719660617411137,
                        "yaw": 0.021890470758080482
                    }
                },
                "velocity": {
                    "x": 9.360215187072754,
                    "y": 0.0007830058457329869,
                    "z": -0.03330094367265701
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.88399076461792,
                "transform": {
                    "location": {
                        "x": -152.49546813964844,
                        "y": 4295.16845703125,
                        "z": 373.00030517578125
                    },
                    "rotation": {
                        "roll": 0.0004397656302899122,
                        "pitch": 0.19244056940078735,
                        "yaw": 179.66453552246094
                    }
                },
                "velocity": {
                    "x": -5.88385009765625,
                    "y": 0.03438971936702728,
                    "z": 0.021635474637150764
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.870386123657227,
                "transform": {
                    "location": {
                        "x": -85.0003890991211,
                        "y": 4294.76904296875,
                        "z": 372.7410888671875
                    },
                    "rotation": {
                        "roll": 7.73462961660698e-05,
                        "pitch": 0.21178366243839264,
                        "yaw": 179.6800079345703
                    }
                },
                "velocity": {
                    "x": -9.870149612426758,
                    "y": 0.05492030084133148,
                    "z": 0.040659159421920776
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3951499462127686,
                "transform": {
                    "location": {
                        "x": -104.57562255859375,
                        "y": 4294.88427734375,
                        "z": 372.8179626464844
                    },
                    "rotation": {
                        "roll": -0.00015258797793649137,
                        "pitch": 0.24770362675189972,
                        "yaw": 179.7684326171875
                    }
                },
                "velocity": {
                    "x": -2.395090341567993,
                    "y": 0.013647530227899551,
                    "z": 0.009955701418220997
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.097065448760986,
                "transform": {
                    "location": {
                        "x": -135.49131774902344,
                        "y": 4295.06787109375,
                        "z": 372.9408264160156
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.171280637383461,
                        "yaw": 179.62745666503906
                    }
                },
                "velocity": {
                    "x": -6.096912860870361,
                    "y": 0.035735953599214554,
                    "z": 0.024041881784796715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.09984786063432693,
        "expert_target_speed": 0,
        "target_point": [
            35.43357377628488,
            6.058150471813391
        ],
        "target_point_next": [
            39.76883238870764,
            6.414562943130264
        ]
    },
    "465": {
        "acceleration": [
            3.8814258575439453,
            -1.052064299583435,
            -0.013780072331428528
        ],
        "angular_velocity": [
            0.07810809463262558,
            -1.13689386844635,
            7.235715866088867
        ],
        "forward_vector": [
            -0.9984620809555054,
            0.05541137978434563,
            0.0017515410436317325
        ],
        "right_vector": [
            -0.05539849400520325,
            -0.9984418749809265,
            0.006705245468765497
        ],
        "location": [
            -127.69937133789062,
            4295.1171875,
            372.9130859375
        ],
        "rotation": [
            -0.3841857314109802,
            0.10035596042871475,
            176.8235321044922
        ],
        "velocity": [
            -7.843813419342041,
            0.32603949308395386,
            0.032134320586919785
        ],
        "speed": 7.850586647410544,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.907488822937012,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -136.60671997070312,
                4295.07861328125,
                372.9449462890625
            ],
            "velocity": [
                -4.217856407165527,
                0.021543683484196663,
                0.015549125149846077
            ],
            "speed_kmh": 15.184584313002295,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.93116760253906,
                        "y": 4298.9287109375,
                        "z": 373.2879333496094
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.9117889404297,
                        "y": 4302.1787109375,
                        "z": 373.2879333496094
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.116214752197266,
                "transform": {
                    "location": {
                        "x": -174.56640625,
                        "y": 4344.9482421875,
                        "z": 373.12640380859375
                    },
                    "rotation": {
                        "roll": -0.006347655318677425,
                        "pitch": 0.007424415089190006,
                        "yaw": -89.96642303466797
                    }
                },
                "velocity": {
                    "x": 0.04225216805934906,
                    "y": -8.115954399108887,
                    "z": -0.04941526800394058
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.18655776977539,
                "transform": {
                    "location": {
                        "x": -177.345458984375,
                        "y": 4249.06689453125,
                        "z": 372.9527587890625
                    },
                    "rotation": {
                        "roll": -0.019409189000725746,
                        "pitch": 0.1966206431388855,
                        "yaw": 90.5712661743164
                    }
                },
                "velocity": {
                    "x": -0.10558710992336273,
                    "y": 8.185871124267578,
                    "z": 0.009535493329167366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.13351204991340637,
                "transform": {
                    "location": {
                        "x": -64.60226440429688,
                        "y": 4294.74853515625,
                        "z": 372.6291198730469
                    },
                    "rotation": {
                        "roll": 0.001339519745670259,
                        "pitch": 0.23626989126205444,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 0.0005519198020920157,
                    "y": -0.00011316651216475293,
                    "z": 0.13351085782051086
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.60671997070312,
                        "y": 4292.40869140625,
                        "z": 373.2730407714844
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -52.53890609741211,
                        "y": 4297.966796875,
                        "z": 372.6103515625
                    },
                    "rotation": {
                        "roll": 5.211065953747429e-11,
                        "pitch": -0.23784767091274261,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.17124938964844,
                        "y": 4295.65625,
                        "z": 373.2923278808594
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.410000801086426,
                "transform": {
                    "location": {
                        "x": -97.54429626464844,
                        "y": 4298.29443359375,
                        "z": 372.79205322265625
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.23141363263130188,
                        "yaw": -0.3446654975414276
                    }
                },
                "velocity": {
                    "x": 13.409651756286621,
                    "y": -0.08073915541172028,
                    "z": -0.053315818309783936
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.456063270568848,
                "transform": {
                    "location": {
                        "x": -88.96202850341797,
                        "y": 4301.49462890625,
                        "z": 372.7667236328125
                    },
                    "rotation": {
                        "roll": 0.0015602719504386187,
                        "pitch": -0.2343710958957672,
                        "yaw": -0.3483886420726776
                    }
                },
                "velocity": {
                    "x": 13.455698013305664,
                    "y": -0.08325152099132538,
                    "z": -0.05373743548989296
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11461,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -49.81046676635742,
                        "y": 4301.1708984375,
                        "z": 372.6011962890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.980372428894043,
                "transform": {
                    "location": {
                        "x": -159.87265014648438,
                        "y": 4298.607421875,
                        "z": 373.0416259765625
                    },
                    "rotation": {
                        "roll": -0.008392333053052425,
                        "pitch": -0.2654757797718048,
                        "yaw": 0.20923684537410736
                    }
                },
                "velocity": {
                    "x": 5.980334281921387,
                    "y": 0.0028373003005981445,
                    "z": -0.02124532125890255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 10.918272972106934,
                "transform": {
                    "location": {
                        "x": -152.904052734375,
                        "y": 4301.853515625,
                        "z": 373.013427734375
                    },
                    "rotation": {
                        "roll": 0.01308407261967659,
                        "pitch": 0.08175735920667648,
                        "yaw": -0.1180114671587944
                    }
                },
                "velocity": {
                    "x": 10.918169975280762,
                    "y": -0.027906550094485283,
                    "z": -0.0384090431034565
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.746928691864014,
                "transform": {
                    "location": {
                        "x": -153.9492950439453,
                        "y": 4295.17626953125,
                        "z": 373.0054931640625
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.19248154759407043,
                        "yaw": 179.6626739501953
                    }
                },
                "velocity": {
                    "x": -5.746791839599609,
                    "y": 0.03382904827594757,
                    "z": 0.020752934738993645
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.48832893371582,
                "transform": {
                    "location": {
                        "x": -87.28812408447266,
                        "y": 4294.7822265625,
                        "z": 372.7504577636719
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.20431143045425415,
                        "yaw": 179.67706298828125
                    }
                },
                "velocity": {
                    "x": -8.488117218017578,
                    "y": 0.047822847962379456,
                    "z": 0.03607172891497612
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.9581992626190186,
                "transform": {
                    "location": {
                        "x": -105.24742126464844,
                        "y": 4294.88818359375,
                        "z": 372.82073974609375
                    },
                    "rotation": {
                        "roll": -9.155275620287284e-05,
                        "pitch": 0.24775144457817078,
                        "yaw": 179.73536682128906
                    }
                },
                "velocity": {
                    "x": -2.9581308364868164,
                    "y": 0.017199838533997536,
                    "z": 0.010435905307531357
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.217939853668213,
                "transform": {
                    "location": {
                        "x": -136.60671997070312,
                        "y": 4295.07861328125,
                        "z": 372.9449462890625
                    },
                    "rotation": {
                        "roll": 0.0014751475537195802,
                        "pitch": 0.1567801535129547,
                        "yaw": -179.92738342285156
                    }
                },
                "velocity": {
                    "x": -4.217856407165527,
                    "y": 0.021543683484196663,
                    "z": 0.015549125149846077
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08289019763469696,
        "expert_target_speed": 0,
        "target_point": [
            33.55532013161744,
            4.9132713781734
        ],
        "target_point_next": [
            37.89987892013239,
            5.128459712972042
        ]
    },
    "470": {
        "acceleration": [
            4.400491714477539,
            -0.5436599254608154,
            -0.016714483499526978
        ],
        "angular_velocity": [
            0.36594638228416443,
            -0.6445041298866272,
            2.997253656387329
        ],
        "forward_vector": [
            -0.999339759349823,
            0.036274656653404236,
            -0.002044795313850045
        ],
        "right_vector": [
            -0.03628284111618996,
            -0.9993330836296082,
            0.004118290729820728
        ],
        "location": [
            -129.529296875,
            4295.1875,
            372.9211120605469
        ],
        "rotation": [
            -0.23596183955669403,
            -0.11715822666883469,
            177.92115783691406
        ],
        "velocity": [
            -6.801863193511963,
            0.19940954446792603,
            0.027441682294011116
        ],
        "speed": 6.804785600566535,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.233283996582031,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -137.76187133789062,
                4295.0830078125,
                372.9488220214844
            ],
            "velocity": [
                -5.051443099975586,
                0.024783844128251076,
                0.0235944464802742
            ],
            "speed_kmh": 18.18561239951698,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.84796142578125,
                        "y": 4298.91650390625,
                        "z": 373.25811767578125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.82858276367188,
                        "y": 4302.16650390625,
                        "z": 373.25811767578125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.065168380737305,
                "transform": {
                    "location": {
                        "x": -174.55328369140625,
                        "y": 4342.92578125,
                        "z": 373.11944580078125
                    },
                    "rotation": {
                        "roll": -0.00372314453125,
                        "pitch": 0.012540226802229881,
                        "yaw": -89.50045776367188
                    }
                },
                "velocity": {
                    "x": 0.07239644229412079,
                    "y": -8.064838409423828,
                    "z": -0.008518028073012829
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.964437484741211,
                "transform": {
                    "location": {
                        "x": -177.37405395507812,
                        "y": 4251.08447265625,
                        "z": 372.957763671875
                    },
                    "rotation": {
                        "roll": 5.891072942176834e-05,
                        "pitch": 0.19827355444431305,
                        "yaw": 90.81179809570312
                    }
                },
                "velocity": {
                    "x": -0.10143991559743881,
                    "y": 7.963751792907715,
                    "z": 0.025227222591638565
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2657530307769775,
                "transform": {
                    "location": {
                        "x": -64.82007598876953,
                        "y": 4294.74609375,
                        "z": 372.6480712890625
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": 0.3005078136920929,
                        "yaw": 179.76194763183594
                    }
                },
                "velocity": {
                    "x": -1.2651753425598145,
                    "y": -0.015380795113742352,
                    "z": 0.03500628471374512
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.43960571289062,
                        "y": 4292.41357421875,
                        "z": 373.25537109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11462,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -49.067264556884766,
                        "y": 4297.91259765625,
                        "z": 372.5978088378906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23857849836349487,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.0037384033203,
                        "y": 4295.6611328125,
                        "z": 373.2537536621094
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.41700267791748,
                "transform": {
                    "location": {
                        "x": -94.19171905517578,
                        "y": 4298.27490234375,
                        "z": 372.77850341796875
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -0.23199419677257538,
                        "yaw": -0.344696044921875
                    }
                },
                "velocity": {
                    "x": 13.416653633117676,
                    "y": -0.08071675151586533,
                    "z": -0.053405649960041046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.456048965454102,
                "transform": {
                    "location": {
                        "x": -85.59882354736328,
                        "y": 4301.47314453125,
                        "z": 372.7530517578125
                    },
                    "rotation": {
                        "roll": 0.0013982504606246948,
                        "pitch": -0.2352931797504425,
                        "yaw": -0.3598022162914276
                    }
                },
                "velocity": {
                    "x": 13.455673217773438,
                    "y": -0.08368358761072159,
                    "z": -0.055810458958148956
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.19406270980835,
                "transform": {
                    "location": {
                        "x": -158.28836059570312,
                        "y": 4298.60791015625,
                        "z": 373.03656005859375
                    },
                    "rotation": {
                        "roll": -0.004180908668786287,
                        "pitch": -0.3353281319141388,
                        "yaw": 0.1143827736377716
                    }
                },
                "velocity": {
                    "x": 7.19401741027832,
                    "y": 0.00045068140025250614,
                    "z": -0.025513790547847748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 12.046223640441895,
                "transform": {
                    "location": {
                        "x": -150.02374267578125,
                        "y": 4301.8447265625,
                        "z": 373.0030822753906
                    },
                    "rotation": {
                        "roll": 0.011624515056610107,
                        "pitch": 0.04408203810453415,
                        "yaw": -0.2038879096508026
                    }
                },
                "velocity": {
                    "x": 12.046052932739258,
                    "y": -0.046803705394268036,
                    "z": -0.043870117515325546
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.465196132659912,
                "transform": {
                    "location": {
                        "x": -155.34828186035156,
                        "y": 4295.18408203125,
                        "z": 373.010498046875
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": 0.19199660420417786,
                        "yaw": 179.662841796875
                    }
                },
                "velocity": {
                    "x": -5.465059757232666,
                    "y": 0.03219817951321602,
                    "z": 0.021240977570414543
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.013596534729004,
                "transform": {
                    "location": {
                        "x": -89.24312591552734,
                        "y": 4294.79345703125,
                        "z": 372.758544921875
                    },
                    "rotation": {
                        "roll": 0.00032879598438739777,
                        "pitch": 0.20027479529380798,
                        "yaw": 179.67666625976562
                    }
                },
                "velocity": {
                    "x": -7.013425350189209,
                    "y": 0.03954770788550377,
                    "z": 0.02895749919116497
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6050498485565186,
                "transform": {
                    "location": {
                        "x": -106.06703186035156,
                        "y": 4294.892578125,
                        "z": 372.8240051269531
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": 0.25068843364715576,
                        "yaw": 179.7067413330078
                    }
                },
                "velocity": {
                    "x": -3.604959726333618,
                    "y": 0.021213555708527565,
                    "z": 0.01412882748991251
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.051558971405029,
                "transform": {
                    "location": {
                        "x": -137.76187133789062,
                        "y": 4295.0830078125,
                        "z": 372.9488220214844
                    },
                    "rotation": {
                        "roll": 0.0009984179632738233,
                        "pitch": 0.23751981556415558,
                        "yaw": 179.9404296875
                    }
                },
                "velocity": {
                    "x": -5.051443099975586,
                    "y": 0.024783844128251076,
                    "z": 0.0235944464802742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1062120720744133,
        "expert_target_speed": 0,
        "target_point": [
            31.81200882377094,
            4.273478620139881
        ],
        "target_point_next": [
            36.159892532369746,
            4.405404140024817
        ]
    },
    "475": {
        "acceleration": [
            19.959821701049805,
            -0.5341546535491943,
            -0.04519538953900337
        ],
        "angular_velocity": [
            0.3266880512237549,
            -4.693533420562744,
            0.4602693021297455
        ],
        "forward_vector": [
            -0.9993765950202942,
            0.02924087829887867,
            -0.01978113129734993
        ],
        "right_vector": [
            -0.029287254437804222,
            -0.9995688796043396,
            0.002058750484138727
        ],
        "location": [
            -130.66053771972656,
            4295.21728515625,
            372.9291076660156
        ],
        "rotation": [
            -0.11798088997602463,
            -1.1334493160247803,
            178.3240509033203
        ],
        "velocity": [
            -2.1290719509124756,
            0.03679228574037552,
            0.00703120231628418
        ],
        "speed": 2.1293898291417324,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.429008483886719,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -139.08851623535156,
                4295.087890625,
                372.95404052734375
            ],
            "velocity": [
                -5.507443904876709,
                0.02980305626988411,
                0.021219339221715927
            ],
            "speed_kmh": 19.827235509484726,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.76475524902344,
                        "y": 4298.904296875,
                        "z": 373.2447814941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.74539184570312,
                        "y": 4302.154296875,
                        "z": 373.2447814941406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.081808090209961,
                "transform": {
                    "location": {
                        "x": -174.5370330810547,
                        "y": 4340.9072265625,
                        "z": 373.1190490722656
                    },
                    "rotation": {
                        "roll": -0.0006103516207076609,
                        "pitch": 0.007308301981538534,
                        "yaw": -89.3663101196289
                    }
                },
                "velocity": {
                    "x": 0.07165292650461197,
                    "y": -8.081490516662598,
                    "z": 0.0013000774197280407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.13605785369873,
                "transform": {
                    "location": {
                        "x": -177.3972625732422,
                        "y": 4253.09716796875,
                        "z": 372.9645690917969
                    },
                    "rotation": {
                        "roll": 0.006951984018087387,
                        "pitch": 0.20792460441589355,
                        "yaw": 90.64920043945312
                    }
                },
                "velocity": {
                    "x": -0.08858481794595718,
                    "y": 8.135523796081543,
                    "z": 0.028910426422953606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.347527503967285,
                "transform": {
                    "location": {
                        "x": -65.23148345947266,
                        "y": 4294.744140625,
                        "z": 372.6527404785156
                    },
                    "rotation": {
                        "roll": -0.001556396484375,
                        "pitch": 0.3053230941295624,
                        "yaw": 179.9672393798828
                    }
                },
                "velocity": {
                    "x": -2.347334384918213,
                    "y": -0.026703404262661934,
                    "z": 0.013906488195061684
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.6895294189453,
                        "y": 4292.4208984375,
                        "z": 373.2584533691406
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.253662109375,
                        "y": 4295.66845703125,
                        "z": 373.2574462890625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.4100923538208,
                "transform": {
                    "location": {
                        "x": -90.83921813964844,
                        "y": 4298.25537109375,
                        "z": 372.76483154296875
                    },
                    "rotation": {
                        "roll": 0.00019155147310812026,
                        "pitch": -0.23370173573493958,
                        "yaw": -0.3475951552391052
                    }
                },
                "velocity": {
                    "x": 13.409740447998047,
                    "y": -0.08144979923963547,
                    "z": -0.05299780145287514
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.456000328063965,
                "transform": {
                    "location": {
                        "x": -82.23554229736328,
                        "y": 4301.45263671875,
                        "z": 372.7391052246094
                    },
                    "rotation": {
                        "roll": -0.00213623046875,
                        "pitch": -0.23541611433029175,
                        "yaw": -0.3445740044116974
                    }
                },
                "velocity": {
                    "x": 13.455636978149414,
                    "y": -0.08111357688903809,
                    "z": -0.05665340647101402
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.402657508850098,
                "transform": {
                    "location": {
                        "x": -156.3223419189453,
                        "y": 4298.60888671875,
                        "z": 373.0295715332031
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": -0.3322203755378723,
                        "yaw": 0.03284924104809761
                    }
                },
                "velocity": {
                    "x": 8.402603149414062,
                    "y": -0.0006004252354614437,
                    "z": -0.030203670263290405
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.069008827209473,
                "transform": {
                    "location": {
                        "x": -146.8788299560547,
                        "y": 4301.8310546875,
                        "z": 372.9915466308594
                    },
                    "rotation": {
                        "roll": 0.00887618400156498,
                        "pitch": 0.009972075931727886,
                        "yaw": -0.27679443359375
                    }
                },
                "velocity": {
                    "x": 13.068764686584473,
                    "y": -0.06312387436628342,
                    "z": -0.048741329461336136
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.371129989624023,
                "transform": {
                    "location": {
                        "x": -156.7020263671875,
                        "y": 4295.19189453125,
                        "z": 373.015380859375
                    },
                    "rotation": {
                        "roll": 0.0001916812325362116,
                        "pitch": 0.19325336813926697,
                        "yaw": 179.65899658203125
                    }
                },
                "velocity": {
                    "x": -5.371002674102783,
                    "y": 0.031920596957206726,
                    "z": 0.0186916533857584
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.417464256286621,
                "transform": {
                    "location": {
                        "x": -90.74436950683594,
                        "y": 4294.80224609375,
                        "z": 372.7647705078125
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.18169668316841125,
                        "yaw": 179.6727752685547
                    }
                },
                "velocity": {
                    "x": -4.417366027832031,
                    "y": 0.02567426860332489,
                    "z": 0.014512710273265839
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.466628551483154,
                "transform": {
                    "location": {
                        "x": -107.07671356201172,
                        "y": 4294.8984375,
                        "z": 372.827880859375
                    },
                    "rotation": {
                        "roll": -0.00042724612285383046,
                        "pitch": 0.2572590708732605,
                        "yaw": 179.6871795654297
                    }
                },
                "velocity": {
                    "x": -4.46651554107666,
                    "y": 0.02620115876197815,
                    "z": 0.018007831647992134
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.507565498352051,
                "transform": {
                    "location": {
                        "x": -139.08851623535156,
                        "y": 4295.087890625,
                        "z": 372.95404052734375
                    },
                    "rotation": {
                        "roll": 0.0010084223467856646,
                        "pitch": 0.24023139476776123,
                        "yaw": 179.77337646484375
                    }
                },
                "velocity": {
                    "x": -5.507443904876709,
                    "y": 0.02980305626988411,
                    "z": 0.021219339221715927
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12773071229457855,
        "expert_target_speed": 3.280711313197564,
        "target_point": [
            30.70964476562185,
            4.0463630319270045
        ],
        "target_point_next": [
            35.058348659616975,
            4.14771158222503
        ]
    },
    "480": {
        "acceleration": [
            -1.7908525466918945,
            -0.08306685090065002,
            0.015394017100334167
        ],
        "angular_velocity": [
            0.16308313608169556,
            4.2152533531188965,
            1.7670623064041138
        ],
        "forward_vector": [
            -0.9996679425239563,
            0.023052848875522614,
            -0.011515242978930473
        ],
        "right_vector": [
            -0.023069368675351143,
            -0.999733030796051,
            0.001303796423599124
        ],
        "location": [
            -131.0652313232422,
            4295.2197265625,
            372.92889404296875
        ],
        "rotation": [
            -0.07470700144767761,
            -0.6597893834114075,
            178.67897033691406
        ],
        "velocity": [
            -1.742788314819336,
            -0.009419423528015614,
            0.006887292489409447
        ],
        "speed": 1.7428137696869455,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.492895126342773,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -140.55726623535156,
                4295.095703125,
                372.9595947265625
            ],
            "velocity": [
                -6.384284973144531,
                0.03729724511504173,
                0.023065270856022835
            ],
            "speed_kmh": 22.983968097687864,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.6815643310547,
                        "y": 4298.8916015625,
                        "z": 373.23541259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.6621856689453,
                        "y": 4302.1416015625,
                        "z": 373.23541259765625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.03200912475586,
                "transform": {
                    "location": {
                        "x": -174.51890563964844,
                        "y": 4338.8935546875,
                        "z": 373.1193542480469
                    },
                    "rotation": {
                        "roll": 4.1625709854997694e-05,
                        "pitch": -0.0006147170206531882,
                        "yaw": -89.41820526123047
                    }
                },
                "velocity": {
                    "x": 0.07136192917823792,
                    "y": -8.031692504882812,
                    "z": 0.0018282890086993575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.9139251708984375,
                "transform": {
                    "location": {
                        "x": -177.4180450439453,
                        "y": 4255.1025390625,
                        "z": 372.97174072265625
                    },
                    "rotation": {
                        "roll": 0.00560095626860857,
                        "pitch": 0.20194819569587708,
                        "yaw": 90.58241271972656
                    }
                },
                "velocity": {
                    "x": -0.07976099103689194,
                    "y": 7.913471698760986,
                    "z": 0.028574761003255844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6398074626922607,
                "transform": {
                    "location": {
                        "x": -65.962890625,
                        "y": 4294.7373046875,
                        "z": 372.6560974121094
                    },
                    "rotation": {
                        "roll": 0.00012939209409523755,
                        "pitch": 0.32452958822250366,
                        "yaw": -179.8821258544922
                    }
                },
                "velocity": {
                    "x": -3.63957142829895,
                    "y": -0.038977887481451035,
                    "z": 0.014106111600995064
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.417105674743652,
                "transform": {
                    "location": {
                        "x": -87.48664093017578,
                        "y": 4298.2353515625,
                        "z": 372.7511901855469
                    },
                    "rotation": {
                        "roll": -0.00024414050858467817,
                        "pitch": -0.23458966612815857,
                        "yaw": -0.351531982421875
                    }
                },
                "velocity": {
                    "x": 13.416735649108887,
                    "y": -0.08356855809688568,
                    "z": -0.05424374341964722
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.456061363220215,
                "transform": {
                    "location": {
                        "x": -78.87226104736328,
                        "y": 4301.43310546875,
                        "z": 372.7252197265625
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.23653626441955566,
                        "yaw": -0.3344725966453552
                    }
                },
                "velocity": {
                    "x": 13.455707550048828,
                    "y": -0.07934217154979706,
                    "z": -0.05671708285808563
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.257783889770508,
                "transform": {
                    "location": {
                        "x": -154.1101531982422,
                        "y": 4298.6064453125,
                        "z": 373.02142333984375
                    },
                    "rotation": {
                        "roll": -0.006256103515625,
                        "pitch": -0.30148452520370483,
                        "yaw": -0.07354736328125
                    }
                },
                "velocity": {
                    "x": 9.257684707641602,
                    "y": -0.027240581810474396,
                    "z": -0.03304428607225418
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.601520538330078,
                "transform": {
                    "location": {
                        "x": -143.51968383789062,
                        "y": 4301.8134765625,
                        "z": 372.9789123535156
                    },
                    "rotation": {
                        "roll": 0.005695562809705734,
                        "pitch": -0.07388215512037277,
                        "yaw": -0.3103026747703552
                    }
                },
                "velocity": {
                    "x": 13.601236343383789,
                    "y": -0.07259690016508102,
                    "z": -0.049508895725011826
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.1004319190979,
                "transform": {
                    "location": {
                        "x": -158.009765625,
                        "y": 4295.19970703125,
                        "z": 373.01995849609375
                    },
                    "rotation": {
                        "roll": -9.155269799521193e-05,
                        "pitch": 0.18733841180801392,
                        "yaw": 179.6564483642578
                    }
                },
                "velocity": {
                    "x": -5.100312232971191,
                    "y": 0.030610965564846992,
                    "z": 0.01681104674935341
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5831027030944824,
                "transform": {
                    "location": {
                        "x": -91.6207046508789,
                        "y": 4294.8076171875,
                        "z": 372.76806640625
                    },
                    "rotation": {
                        "roll": -3.0517647246597335e-05,
                        "pitch": 0.2024877816438675,
                        "yaw": 179.66529846191406
                    }
                },
                "velocity": {
                    "x": -3.5830142498016357,
                    "y": 0.02100425586104393,
                    "z": 0.013879003003239632
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.202230453491211,
                "transform": {
                    "location": {
                        "x": -108.31382751464844,
                        "y": 4294.90576171875,
                        "z": 372.8331604003906
                    },
                    "rotation": {
                        "roll": 0.00017286006186623126,
                        "pitch": 0.25857728719711304,
                        "yaw": 179.67361450195312
                    }
                },
                "velocity": {
                    "x": -5.202095031738281,
                    "y": 0.031095098704099655,
                    "z": 0.020994825288653374
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.384435653686523,
                "transform": {
                    "location": {
                        "x": -140.55726623535156,
                        "y": 4295.095703125,
                        "z": 372.9595947265625
                    },
                    "rotation": {
                        "roll": 0.0001091884114430286,
                        "pitch": 0.24691133201122284,
                        "yaw": 179.6856231689453
                    }
                },
                "velocity": {
                    "x": -6.384284973144531,
                    "y": 0.03729724511504173,
                    "z": 0.023065270856022835
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11192245036363602,
        "expert_target_speed": 2.897666679912967,
        "target_point": [
            30.329478634392967,
            3.8491638690936156
        ],
        "target_point_next": [
            34.67872690118094,
            3.9235722028856728
        ]
    },
    "485": {
        "acceleration": [
            -4.300537109375,
            -0.03836239501833916,
            -0.01351870596408844
        ],
        "angular_velocity": [
            0.04685276746749878,
            2.3691155910491943,
            1.7226933240890503
        ],
        "forward_vector": [
            -0.9998635649681091,
            0.016294803470373154,
            0.0027013984508812428
        ],
        "right_vector": [
            -0.016292888671159744,
            -0.9998670220375061,
            0.0007297032861970365
        ],
        "location": [
            -131.6090545654297,
            4295.2216796875,
            372.9280700683594
        ],
        "rotation": [
            -0.0418090745806694,
            0.15477891266345978,
            179.0663299560547
        ],
        "velocity": [
            -2.6118202209472656,
            -0.003272709436714649,
            0.009573621675372124
        ],
        "speed": 2.61182227136076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.683744430541992,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -142.29209899902344,
                4295.10546875,
                372.9660339355469
            ],
            "velocity": [
                -7.496283531188965,
                0.0463525764644146,
                0.027193650603294373
            ],
            "speed_kmh": 26.987314180443185,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -213.62132263183594,
                        "y": 4298.87939453125,
                        "z": 373.22662353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -213.60194396972656,
                        "y": 4302.12939453125,
                        "z": 373.22662353515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.048721313476562,
                "transform": {
                    "location": {
                        "x": -174.50421142578125,
                        "y": 4336.8837890625,
                        "z": 373.1194152832031
                    },
                    "rotation": {
                        "roll": 0.0025132952723652124,
                        "pitch": -0.0012840754352509975,
                        "yaw": -89.62008666992188
                    }
                },
                "velocity": {
                    "x": 0.04012613743543625,
                    "y": -8.04862117767334,
                    "z": 2.365112322877394e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.094934463500977,
                "transform": {
                    "location": {
                        "x": -177.4332733154297,
                        "y": 4257.07177734375,
                        "z": 372.9785461425781
                    },
                    "rotation": {
                        "roll": 0.010353676974773407,
                        "pitch": 0.0934847965836525,
                        "yaw": 90.41670227050781
                    }
                },
                "velocity": {
                    "x": -0.04773348569869995,
                    "y": 7.094729900360107,
                    "z": 0.025021199136972427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.315341949462891,
                "transform": {
                    "location": {
                        "x": -67.09593963623047,
                        "y": 4294.734375,
                        "z": 372.66058349609375
                    },
                    "rotation": {
                        "roll": 0.004528267774730921,
                        "pitch": 0.34780004620552063,
                        "yaw": -179.86392211914062
                    }
                },
                "velocity": {
                    "x": -5.315281867980957,
                    "y": -0.011379892937839031,
                    "z": 0.022550983354449272
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.410172462463379,
                "transform": {
                    "location": {
                        "x": -84.13414001464844,
                        "y": 4298.21435546875,
                        "z": 372.7375183105469
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.23413203656673431,
                        "yaw": -0.3533019423484802
                    }
                },
                "velocity": {
                    "x": 13.40980339050293,
                    "y": -0.08235134929418564,
                    "z": -0.0559559129178524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.45596694946289,
                "transform": {
                    "location": {
                        "x": -75.50897979736328,
                        "y": 4301.41357421875,
                        "z": 372.71136474609375
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.2366592139005661,
                        "yaw": -0.3309325873851776
                    }
                },
                "velocity": {
                    "x": 13.455620765686035,
                    "y": -0.07830926030874252,
                    "z": -0.05639171600341797
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.186115264892578,
                "transform": {
                    "location": {
                        "x": -151.67398071289062,
                        "y": 4298.59912109375,
                        "z": 373.01263427734375
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.29567888379096985,
                        "yaw": -0.1654968410730362
                    }
                },
                "velocity": {
                    "x": 10.18599796295166,
                    "y": -0.03367006406188011,
                    "z": -0.035517528653144836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.415903091430664,
                "transform": {
                    "location": {
                        "x": -140.1422576904297,
                        "y": 4301.79541015625,
                        "z": 372.9661560058594
                    },
                    "rotation": {
                        "roll": 0.0028275232762098312,
                        "pitch": -0.2131975144147873,
                        "yaw": -0.3179320693016052
                    }
                },
                "velocity": {
                    "x": 13.415607452392578,
                    "y": -0.07418887317180634,
                    "z": -0.04913727194070816
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.9985032081604,
                "transform": {
                    "location": {
                        "x": -159.271240234375,
                        "y": 4295.20751953125,
                        "z": 373.02435302734375
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": 0.18629339337348938,
                        "yaw": 179.65548706054688
                    }
                },
                "velocity": {
                    "x": -4.9983811378479,
                    "y": 0.030002521350979805,
                    "z": 0.017918718978762627
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.270374298095703,
                "transform": {
                    "location": {
                        "x": -92.6050796508789,
                        "y": 4294.81298828125,
                        "z": 372.77166748046875
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": 0.24364648759365082,
                        "yaw": 179.66519165039062
                    }
                },
                "velocity": {
                    "x": -4.270263195037842,
                    "y": 0.025053879246115685,
                    "z": 0.01793302409350872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.702770233154297,
                "transform": {
                    "location": {
                        "x": -109.65695190429688,
                        "y": 4294.91357421875,
                        "z": 372.838623046875
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": 0.2456340789794922,
                        "yaw": 179.7179412841797
                    }
                },
                "velocity": {
                    "x": -5.702630043029785,
                    "y": 0.033429861068725586,
                    "z": 0.021964434534311295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.496476173400879,
                "transform": {
                    "location": {
                        "x": -142.29209899902344,
                        "y": 4295.10546875,
                        "z": 372.9660339355469
                    },
                    "rotation": {
                        "roll": 0.00027308028074912727,
                        "pitch": 0.25151488184928894,
                        "yaw": 179.63360595703125
                    }
                },
                "velocity": {
                    "x": -7.496283531188965,
                    "y": 0.0463525764644146,
                    "z": 0.027193650603294373
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09682431071996689,
        "expert_target_speed": 3.7525389918062424,
        "target_point": [
            29.81102510498981,
            3.6371235069858403
        ],
        "target_point_next": [
            34.16067702043595,
            3.682126848546197
        ]
    },
    "490": {
        "acceleration": [
            -5.173816680908203,
            -0.1863906979560852,
            0.028360560536384583
        ],
        "angular_velocity": [
            -0.09718794375658035,
            1.0938395261764526,
            2.498490571975708
        ],
        "forward_vector": [
            -0.9999248385429382,
            0.006999946665018797,
            0.010066337883472443
        ],
        "right_vector": [
            -0.006990250665694475,
            -0.9999750852584839,
            0.0009981016628444195
        ],
        "location": [
            -132.4276580810547,
            4295.21875,
            372.92974853515625
        ],
        "rotation": [
            -0.05718991160392761,
            0.5767684578895569,
            179.59890747070312
        ],
        "velocity": [
            -3.883253812789917,
            -0.036355309188365936,
            0.014900092966854572
        ],
        "speed": 3.883423989606802,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.741684913635254,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -144.1688232421875,
                4295.1171875,
                372.9732971191406
            ],
            "velocity": [
                -7.180023193359375,
                0.04527567699551582,
                0.028403520584106445
            ],
            "speed_kmh": 25.848799634895514,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -211.63201904296875,
                        "y": 4298.8671875,
                        "z": 373.2189636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -211.61265563964844,
                        "y": 4302.1171875,
                        "z": 373.2189636230469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.946023464202881,
                "transform": {
                    "location": {
                        "x": -174.4942169189453,
                        "y": 4334.88037109375,
                        "z": 373.1191711425781
                    },
                    "rotation": {
                        "roll": 0.0017869967268779874,
                        "pitch": -0.01413166057318449,
                        "yaw": -89.8127670288086
                    }
                },
                "velocity": {
                    "x": 0.02632281556725502,
                    "y": -7.945979595184326,
                    "z": -0.0019752883818000555
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.1147541999816895,
                "transform": {
                    "location": {
                        "x": -177.44288635253906,
                        "y": 4258.66162109375,
                        "z": 372.98388671875
                    },
                    "rotation": {
                        "roll": 0.00462305685505271,
                        "pitch": 0.044928982853889465,
                        "yaw": 90.31729125976562
                    }
                },
                "velocity": {
                    "x": -0.03431841731071472,
                    "y": 6.114619731903076,
                    "z": 0.021663464605808258
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.8844428062438965,
                "transform": {
                    "location": {
                        "x": -68.51781463623047,
                        "y": 4294.73095703125,
                        "z": 372.6668395996094
                    },
                    "rotation": {
                        "roll": 0.0031337752006947994,
                        "pitch": 0.2942035496234894,
                        "yaw": -179.8653106689453
                    }
                },
                "velocity": {
                    "x": -5.884376525878906,
                    "y": -0.013589746318757534,
                    "z": 0.024358157068490982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.417183876037598,
                "transform": {
                    "location": {
                        "x": -80.78156280517578,
                        "y": 4298.19482421875,
                        "z": 372.72369384765625
                    },
                    "rotation": {
                        "roll": -3.0517556297127157e-05,
                        "pitch": -0.23571664094924927,
                        "yaw": -0.345428466796875
                    }
                },
                "velocity": {
                    "x": 13.416820526123047,
                    "y": -0.08115772902965546,
                    "z": -0.05609208345413208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.45600414276123,
                "transform": {
                    "location": {
                        "x": -72.14569854736328,
                        "y": 4301.39404296875,
                        "z": 372.6975402832031
                    },
                    "rotation": {
                        "roll": 0.0008151200017891824,
                        "pitch": -0.2355663776397705,
                        "yaw": -0.3353881537914276
                    }
                },
                "velocity": {
                    "x": 13.455656051635742,
                    "y": -0.07868065685033798,
                    "z": -0.05646004155278206
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.012401580810547,
                "transform": {
                    "location": {
                        "x": -149.02008056640625,
                        "y": 4298.58935546875,
                        "z": 373.00299072265625
                    },
                    "rotation": {
                        "roll": -0.00323486328125,
                        "pitch": -0.2969902753829956,
                        "yaw": -0.23147578537464142
                    }
                },
                "velocity": {
                    "x": 11.012203216552734,
                    "y": -0.052052125334739685,
                    "z": -0.040602393448352814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.36561107635498,
                "transform": {
                    "location": {
                        "x": -136.7996063232422,
                        "y": 4301.77587890625,
                        "z": 372.9533386230469
                    },
                    "rotation": {
                        "roll": 0.002082889201119542,
                        "pitch": -0.22928260266780853,
                        "yaw": -0.3283080458641052
                    }
                },
                "velocity": {
                    "x": 13.365286827087402,
                    "y": -0.07661168277263641,
                    "z": -0.0527869276702404
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7237154245376587,
                "transform": {
                    "location": {
                        "x": -160.1383514404297,
                        "y": 4295.2138671875,
                        "z": 373.02880859375
                    },
                    "rotation": {
                        "roll": 0.0009955867426469922,
                        "pitch": -0.0258181132376194,
                        "yaw": 179.70692443847656
                    }
                },
                "velocity": {
                    "x": -0.7236585021018982,
                    "y": 0.008471989072859287,
                    "z": -0.003257541684433818
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.030117034912109,
                "transform": {
                    "location": {
                        "x": -93.76921844482422,
                        "y": 4294.8203125,
                        "z": 372.7763977050781
                    },
                    "rotation": {
                        "roll": -0.0013732907827943563,
                        "pitch": 0.250196635723114,
                        "yaw": 179.66204833984375
                    }
                },
                "velocity": {
                    "x": -5.029993057250977,
                    "y": 0.029690274968743324,
                    "z": 0.01912507973611355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.774937629699707,
                "transform": {
                    "location": {
                        "x": -111.22921752929688,
                        "y": 4294.92333984375,
                        "z": 372.84466552734375
                    },
                    "rotation": {
                        "roll": 0.00036121197626926005,
                        "pitch": 0.2622109353542328,
                        "yaw": 179.72943115234375
                    }
                },
                "velocity": {
                    "x": -6.774773597717285,
                    "y": 0.03931703045964241,
                    "z": 0.026078814640641212
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.180222034454346,
                "transform": {
                    "location": {
                        "x": -144.1688232421875,
                        "y": 4295.1171875,
                        "z": 372.9732971191406
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": 0.21488456428050995,
                        "yaw": 179.62353515625
                    }
                },
                "velocity": {
                    "x": -7.180023193359375,
                    "y": 0.04527567699551582,
                    "z": 0.028403520584106445
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06535979360342026,
        "expert_target_speed": 4.980185045140823,
        "target_point": [
            29.024982503380325,
            3.3512033083049615
        ],
        "target_point_next": [
            33.374864823841996,
            3.35577325697728
        ]
    },
    "495": {
        "acceleration": [
            -4.630670547485352,
            -0.31308501958847046,
            0.10520365089178085
        ],
        "angular_velocity": [
            -0.161293625831604,
            0.24738839268684387,
            3.0241990089416504
        ],
        "forward_vector": [
            -0.9999099373817444,
            -0.005160540342330933,
            0.012389103882014751
        ],
        "right_vector": [
            0.005177580751478672,
            -0.9999857544898987,
            0.00134372734464705
        ],
        "location": [
            -133.5535125732422,
            4295.20458984375,
            372.9337463378906
        ],
        "rotation": [
            -0.0769958347082138,
            0.7098615169525146,
            -179.7042999267578
        ],
        "velocity": [
            -5.0567145347595215,
            -0.09919848293066025,
            0.02334555611014366
        ],
        "speed": 5.057687438450892,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.290563583374023,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -145.84375,
                4295.1279296875,
                372.9798889160156
            ],
            "velocity": [
                -6.343371868133545,
                0.040438778698444366,
                0.024288777261972427
            ],
            "speed_kmh": 22.83677015220174,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -177.31085205078125,
                        "y": 4244.7548828125,
                        "z": 373.3195495605469
                    },
                    "rotation": {
                        "roll": 1.3340319071630802e-08,
                        "pitch": 0.2288796305656433,
                        "yaw": 90.57296752929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.40625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -209.7128143310547,
                        "y": 4298.8564453125,
                        "z": 373.2115783691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -209.6934356689453,
                        "y": 4302.1064453125,
                        "z": 373.2115783691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.21594324707984924,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.727834701538086,
                "transform": {
                    "location": {
                        "x": -174.48812866210938,
                        "y": 4332.92138671875,
                        "z": 373.1187744140625
                    },
                    "rotation": {
                        "roll": 0.0015193010913208127,
                        "pitch": -0.021965887397527695,
                        "yaw": -89.9151611328125
                    }
                },
                "velocity": {
                    "x": 0.01284720841795206,
                    "y": -7.727823734283447,
                    "z": -0.002129039727151394
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.593775272369385,
                "transform": {
                    "location": {
                        "x": -177.4512481689453,
                        "y": 4260.21435546875,
                        "z": 372.98931884765625
                    },
                    "rotation": {
                        "roll": 0.0023099244572222233,
                        "pitch": 0.19531607627868652,
                        "yaw": 90.37138366699219
                    }
                },
                "velocity": {
                    "x": -0.039015769958496094,
                    "y": 6.593622207641602,
                    "z": 0.02237253077328205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.262409210205078,
                "transform": {
                    "location": {
                        "x": -70.37601470947266,
                        "y": 4294.7265625,
                        "z": 372.6740417480469
                    },
                    "rotation": {
                        "roll": 0.002043759450316429,
                        "pitch": 0.3618975579738617,
                        "yaw": -179.91798400878906
                    }
                },
                "velocity": {
                    "x": -8.262323379516602,
                    "y": -0.017291653901338577,
                    "z": 0.03333355858922005
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.30108642578125,
                        "y": 4302.1982421875,
                        "z": 373.4674987792969
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.410260200500488,
                "transform": {
                    "location": {
                        "x": -77.42906188964844,
                        "y": 4298.1748046875,
                        "z": 372.7098388671875
                    },
                    "rotation": {
                        "roll": 3.081474278587848e-05,
                        "pitch": -0.23598985373973846,
                        "yaw": -0.3418273627758026
                    }
                },
                "velocity": {
                    "x": 13.409904479980469,
                    "y": -0.08002223819494247,
                    "z": -0.05590124428272247
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.4560546875,
                "transform": {
                    "location": {
                        "x": -68.78241729736328,
                        "y": 4301.37451171875,
                        "z": 372.6837158203125
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.23624257743358612,
                        "yaw": -0.3354186415672302
                    }
                },
                "velocity": {
                    "x": 13.455705642700195,
                    "y": -0.0788915827870369,
                    "z": -0.056360725313425064
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.3203887939453,
                        "y": 4298.9482421875,
                        "z": 373.4674987792969
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.864080429077148,
                "transform": {
                    "location": {
                        "x": -146.1550750732422,
                        "y": 4298.576171875,
                        "z": 372.9923400878906
                    },
                    "rotation": {
                        "roll": 0.00037406155024655163,
                        "pitch": -0.29864317178726196,
                        "yaw": -0.2710570693016052
                    }
                },
                "velocity": {
                    "x": 11.863866806030273,
                    "y": -0.055950015783309937,
                    "z": -0.04391633719205856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.401970863342285,
                "transform": {
                    "location": {
                        "x": -133.4530487060547,
                        "y": 4301.75634765625,
                        "z": 372.94036865234375
                    },
                    "rotation": {
                        "roll": 0.0016221791738644242,
                        "pitch": -0.21741174161434174,
                        "yaw": -0.3404540717601776
                    }
                },
                "velocity": {
                    "x": 13.401628494262695,
                    "y": -0.07991963624954224,
                    "z": -0.052770085632801056
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012007616460323334,
                "transform": {
                    "location": {
                        "x": -160.14553833007812,
                        "y": 4295.2138671875,
                        "z": 373.02777099609375
                    },
                    "rotation": {
                        "roll": 0.00018344710406381637,
                        "pitch": 0.0876176655292511,
                        "yaw": 179.71377563476562
                    }
                },
                "velocity": {
                    "x": 0.00042237015441060066,
                    "y": 3.2524978450965136e-05,
                    "z": 0.0011235541896894574
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.473124027252197,
                "transform": {
                    "location": {
                        "x": -95.08741760253906,
                        "y": 4294.828125,
                        "z": 372.7820129394531
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": 0.24403581023216248,
                        "yaw": 179.66091918945312
                    }
                },
                "velocity": {
                    "x": -5.472987174987793,
                    "y": 0.03234746679663658,
                    "z": 0.02120087668299675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.722949981689453,
                "transform": {
                    "location": {
                        "x": -113.06999969482422,
                        "y": 4294.93359375,
                        "z": 372.8519592285156
                    },
                    "rotation": {
                        "roll": 0.0012725240085273981,
                        "pitch": 0.26023703813552856,
                        "yaw": 179.68638610839844
                    }
                },
                "velocity": {
                    "x": -7.722759246826172,
                    "y": 0.04544529318809509,
                    "z": 0.029749155044555664
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.343547344207764,
                "transform": {
                    "location": {
                        "x": -145.84375,
                        "y": 4295.1279296875,
                        "z": 372.9798889160156
                    },
                    "rotation": {
                        "roll": 0.0003430395445320755,
                        "pitch": 0.1862524151802063,
                        "yaw": 179.63070678710938
                    }
                },
                "velocity": {
                    "x": -6.343371868133545,
                    "y": 0.040438778698444366,
                    "z": 0.024288777261972427
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.015727277845144272,
        "expert_target_speed": 6.072016821251184,
        "target_point": [
            27.937676015272515,
            2.989648184910151
        ],
        "target_point_next": [
            32.287292272324365,
            2.941321146038902
        ]
    },
    "500": {
        "acceleration": [
            0.031223297119140625,
            -0.228101909160614,
            -0.012122727930545807
        ],
        "angular_velocity": [
            -0.005313033238053322,
            -1.1489906311035156,
            6.415994167327881
        ],
        "forward_vector": [
            -0.9998027086257935,
            -0.01787586882710457,
            0.008656988851726055
        ],
        "right_vector": [
            0.017888417467474937,
            -0.9998390078544617,
            0.0013741391012445092
        ],
        "location": [
            -134.86663818359375,
            4295.17431640625,
            372.9397277832031
        ],
        "rotation": [
            -0.0787353515625,
            0.49601513147354126,
            -178.97569274902344
        ],
        "velocity": [
            -5.265443801879883,
            -0.15948957204818726,
            0.020475558936595917
        ],
        "speed": 5.267858706756227,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.393742561340332,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -147.26023864746094,
                4295.13671875,
                372.98541259765625
            ],
            "velocity": [
                -3.710845470428467,
                0.023121153935790062,
                0.010691022500395775
            ],
            "speed_kmh": 13.359358441367116,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.8671705722808838,
                "transform": {
                    "location": {
                        "x": -177.31085205078125,
                        "y": 4244.75537109375,
                        "z": 372.9552001953125
                    },
                    "rotation": {
                        "roll": 0.0013606991851702332,
                        "pitch": 0.22874301671981812,
                        "yaw": 90.57298278808594
                    }
                },
                "velocity": {
                    "x": 2.9549284590757452e-05,
                    "y": 0.003457595594227314,
                    "z": -0.8671636581420898
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.2218099683523178,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.0638732910156
                    },
                    "rotation": {
                        "roll": -3.0519073334289715e-05,
                        "pitch": 0.03087928332388401,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.00014246899809222668,
                    "y": -0.00011024053674191236,
                    "z": -0.22180989384651184
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -207.8612518310547,
                        "y": 4298.84521484375,
                        "z": 373.20458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -207.8418731689453,
                        "y": 4302.09521484375,
                        "z": 373.20458984375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.4076995849609375,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4331.03076171875,
                        "z": 373.11810302734375
                    },
                    "rotation": {
                        "roll": 0.00030949630308896303,
                        "pitch": -0.02880973555147648,
                        "yaw": -89.98334503173828
                    }
                },
                "velocity": {
                    "x": 0.0037466217763721943,
                    "y": -7.407698154449463,
                    "z": -0.002533292630687356
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.886056900024414,
                "transform": {
                    "location": {
                        "x": -177.460693359375,
                        "y": 4262.13037109375,
                        "z": 372.9958190917969
                    },
                    "rotation": {
                        "roll": 0.004806294105947018,
                        "pitch": 0.3352530002593994,
                        "yaw": 90.27195739746094
                    }
                },
                "velocity": {
                    "x": -0.03428041934967041,
                    "y": 7.88594388961792,
                    "z": 0.024658985435962677
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.18349552154541,
                "transform": {
                    "location": {
                        "x": -72.46453094482422,
                        "y": 4294.7255859375,
                        "z": 372.6833190917969
                    },
                    "rotation": {
                        "roll": 0.005269890651106834,
                        "pitch": 0.2630988657474518,
                        "yaw": -179.98919677734375
                    }
                },
                "velocity": {
                    "x": -8.183414459228516,
                    "y": 0.013142736628651619,
                    "z": 0.0340815931558609
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.45140075683594,
                        "y": 4302.18798828125,
                        "z": 373.27838134765625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.417213439941406,
                "transform": {
                    "location": {
                        "x": -74.07648468017578,
                        "y": 4298.15576171875,
                        "z": 372.696044921875
                    },
                    "rotation": {
                        "roll": 0.00010159715748159215,
                        "pitch": -0.23566199839115143,
                        "yaw": -0.3427734375
                    }
                },
                "velocity": {
                    "x": 13.416852951049805,
                    "y": -0.08049505949020386,
                    "z": -0.056508712470531464
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 13.456033706665039,
                "transform": {
                    "location": {
                        "x": -65.41913604736328,
                        "y": 4301.35498046875,
                        "z": 372.6698303222656
                    },
                    "rotation": {
                        "roll": 0.0005012533511035144,
                        "pitch": -0.23626989126205444,
                        "yaw": -0.3413390815258026
                    }
                },
                "velocity": {
                    "x": 13.45567798614502,
                    "y": -0.07973624020814896,
                    "z": -0.05655275657773018
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.4707794189453,
                        "y": 4298.93798828125,
                        "z": 373.27838134765625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.650343894958496,
                "transform": {
                    "location": {
                        "x": -143.0868682861328,
                        "y": 4298.56103515625,
                        "z": 372.9808044433594
                    },
                    "rotation": {
                        "roll": -0.0016479493351653218,
                        "pitch": -0.2958974242210388,
                        "yaw": -0.3014831244945526
                    }
                },
                "velocity": {
                    "x": 12.650064468383789,
                    "y": -0.0703003853559494,
                    "z": -0.04599219188094139
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.404121398925781,
                "transform": {
                    "location": {
                        "x": -130.1015625,
                        "y": 4301.73681640625,
                        "z": 372.92730712890625
                    },
                    "rotation": {
                        "roll": 0.00034204061375930905,
                        "pitch": -0.22357256710529327,
                        "yaw": -0.3382263481616974
                    }
                },
                "velocity": {
                    "x": 13.403779029846191,
                    "y": -0.07973692566156387,
                    "z": -0.05319324508309364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014893506886437535,
                "transform": {
                    "location": {
                        "x": -160.14608764648438,
                        "y": 4295.2138671875,
                        "z": 373.0272216796875
                    },
                    "rotation": {
                        "roll": 0.0007093792082741857,
                        "pitch": 0.16881494224071503,
                        "yaw": 179.7137908935547
                    }
                },
                "velocity": {
                    "x": 9.84048456302844e-05,
                    "y": 7.498764898627996e-05,
                    "z": 0.001484203152358532
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.195318222045898,
                "transform": {
                    "location": {
                        "x": -96.55804443359375,
                        "y": 4294.8369140625,
                        "z": 372.787841796875
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": 0.2442680448293686,
                        "yaw": 179.65951538085938
                    }
                },
                "velocity": {
                    "x": -6.195156574249268,
                    "y": 0.03691092133522034,
                    "z": 0.02532370574772358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.775402069091797,
                "transform": {
                    "location": {
                        "x": -115.15225982666016,
                        "y": 4294.9453125,
                        "z": 372.860107421875
                    },
                    "rotation": {
                        "roll": 0.0005231018294580281,
                        "pitch": 0.26458102464675903,
                        "yaw": 179.66189575195312
                    }
                },
                "velocity": {
                    "x": -8.775185585021973,
                    "y": 0.05200692638754845,
                    "z": 0.03305647894740105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.710932970046997,
                "transform": {
                    "location": {
                        "x": -147.26023864746094,
                        "y": 4295.13671875,
                        "z": 372.98541259765625
                    },
                    "rotation": {
                        "roll": -0.0002136229886673391,
                        "pitch": 0.14821510016918182,
                        "yaw": 179.63890075683594
                    }
                },
                "velocity": {
                    "x": -3.710845470428467,
                    "y": 0.023121153935790062,
                    "z": 0.010691022500395775
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.008087323978543282,
        "expert_target_speed": 6.256969100340502,
        "target_point": [
            26.65997774152314,
            2.627344693264665
        ],
        "target_point_next": [
            31.00862775423111,
            2.5237099825214466
        ]
    },
    "505": {
        "acceleration": [
            -4.4753265380859375,
            -0.5357733368873596,
            -0.007537864148616791
        ],
        "angular_velocity": [
            -0.06727728247642517,
            0.6175627112388611,
            0.5286237597465515
        ],
        "forward_vector": [
            -0.9995062947273254,
            -0.02891649305820465,
            0.012287665158510208
        ],
        "right_vector": [
            0.028937071561813354,
            -0.9995800852775574,
            0.0015003107255324721
        ],
        "location": [
            -136.3524932861328,
            4295.125,
            372.9446716308594
        ],
        "rotation": [
            -0.08596799522638321,
            0.7040490508079529,
            -178.3428497314453
        ],
        "velocity": [
            -6.694949150085449,
            -0.2626951038837433,
            0.02529950998723507
        ],
        "speed": 6.700100957435968,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.6341552734375,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -147.98655700683594,
                4295.14111328125,
                372.9877624511719
            ],
            "velocity": [
                -3.3239049911499023,
                0.020511584356427193,
                0.012146749533712864
            ],
            "speed_kmh": 11.966365699666516,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1309109628200531,
                "transform": {
                    "location": {
                        "x": -177.31085205078125,
                        "y": 4244.75537109375,
                        "z": 372.94464111328125
                    },
                    "rotation": {
                        "roll": 0.0017880831146612763,
                        "pitch": 0.22874301671981812,
                        "yaw": 90.572998046875
                    }
                },
                "velocity": {
                    "x": -0.0001430545380571857,
                    "y": -0.0005286972736939788,
                    "z": 0.13090981543064117
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.2391233742237091,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.27978515625,
                        "z": 373.0834655761719
                    },
                    "rotation": {
                        "roll": -0.0007324229227378964,
                        "pitch": 0.047538112848997116,
                        "yaw": -90.04976654052734
                    }
                },
                "velocity": {
                    "x": 0.002206193283200264,
                    "y": -0.19095829129219055,
                    "z": 0.14390987157821655
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -206.07484436035156,
                        "y": 4298.83544921875,
                        "z": 373.1979675292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -206.0554656982422,
                        "y": 4302.08544921875,
                        "z": 373.1979675292969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2114899605512619,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.182326793670654,
                "transform": {
                    "location": {
                        "x": -174.4851531982422,
                        "y": 4329.20849609375,
                        "z": 373.1174621582031
                    },
                    "rotation": {
                        "roll": 0.00015685759717598557,
                        "pitch": -0.037688981741666794,
                        "yaw": -90.01817321777344
                    }
                },
                "velocity": {
                    "x": -0.0004978590877726674,
                    "y": -7.182326316833496,
                    "z": -0.002239971188828349
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.98306941986084,
                "transform": {
                    "location": {
                        "x": -177.4679718017578,
                        "y": 4263.978515625,
                        "z": 373.00152587890625
                    },
                    "rotation": {
                        "roll": 0.002930986462160945,
                        "pitch": 0.106953926384449,
                        "yaw": 90.24083709716797
                    }
                },
                "velocity": {
                    "x": -0.02605762705206871,
                    "y": 6.982980728149414,
                    "z": 0.023569153621792793
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.834774971008301,
                "transform": {
                    "location": {
                        "x": -74.44702911376953,
                        "y": 4294.728515625,
                        "z": 372.69171142578125
                    },
                    "rotation": {
                        "roll": 0.002203983487561345,
                        "pitch": 0.22575139999389648,
                        "yaw": 179.89877319335938
                    }
                },
                "velocity": {
                    "x": -7.834686756134033,
                    "y": 0.017360562458634377,
                    "z": 0.0329299159348011
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.59022521972656,
                        "y": 4302.177734375,
                        "z": 373.2652587890625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.410239219665527,
                "transform": {
                    "location": {
                        "x": -70.72398376464844,
                        "y": 4298.1357421875,
                        "z": 372.6822204589844
                    },
                    "rotation": {
                        "roll": 0.00011892774637090042,
                        "pitch": -0.23566199839115143,
                        "yaw": -0.3445129692554474
                    }
                },
                "velocity": {
                    "x": 13.40987777709961,
                    "y": -0.08055111020803452,
                    "z": -0.05664791166782379
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -61.97015380859375,
                        "y": 4301.26318359375,
                        "z": 372.6528015136719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.58358764648438,
                        "y": 4298.92724609375,
                        "z": 373.26507568359375
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.33729076385498,
                "transform": {
                    "location": {
                        "x": -139.82554626464844,
                        "y": 4298.54296875,
                        "z": 372.9684753417969
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": -0.29168322682380676,
                        "yaw": -0.318817138671875
                    }
                },
                "velocity": {
                    "x": 13.336971282958984,
                    "y": -0.07717712968587875,
                    "z": -0.050713613629341125
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.398541450500488,
                "transform": {
                    "location": {
                        "x": -126.75164031982422,
                        "y": 4301.71728515625,
                        "z": 372.91412353515625
                    },
                    "rotation": {
                        "roll": 0.001572621171362698,
                        "pitch": -0.2256421148777008,
                        "yaw": -0.34625235199928284
                    }
                },
                "velocity": {
                    "x": 13.398191452026367,
                    "y": -0.08137252926826477,
                    "z": -0.05247953161597252
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010925439419224858,
                "transform": {
                    "location": {
                        "x": -160.146240234375,
                        "y": 4295.2138671875,
                        "z": 373.027099609375
                    },
                    "rotation": {
                        "roll": 0.0004583839327096939,
                        "pitch": 0.18534401059150696,
                        "yaw": 179.71380615234375
                    }
                },
                "velocity": {
                    "x": 3.346487937960774e-05,
                    "y": -3.0095210604486056e-05,
                    "z": 0.0010916164610534906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.282034397125244,
                "transform": {
                    "location": {
                        "x": -98.26351165771484,
                        "y": 4294.8466796875,
                        "z": 372.794677734375
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": 0.255872517824173,
                        "yaw": 179.6585235595703
                    }
                },
                "velocity": {
                    "x": -7.281839847564697,
                    "y": 0.04436240717768669,
                    "z": 0.029359931126236916
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.234147071838379,
                "transform": {
                    "location": {
                        "x": -117.27015686035156,
                        "y": 4294.95849609375,
                        "z": 372.868896484375
                    },
                    "rotation": {
                        "roll": 0.000570652075111866,
                        "pitch": 0.2190987914800644,
                        "yaw": 179.65057373046875
                    }
                },
                "velocity": {
                    "x": -8.233932495117188,
                    "y": 0.04915447533130646,
                    "z": 0.03332316502928734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3239905834198,
                "transform": {
                    "location": {
                        "x": -147.98655700683594,
                        "y": 4295.14111328125,
                        "z": 372.9877624511719
                    },
                    "rotation": {
                        "roll": 0.0001338061410933733,
                        "pitch": 0.17524215579032898,
                        "yaw": 179.64088439941406
                    }
                },
                "velocity": {
                    "x": -3.3239049911499023,
                    "y": 0.020511584356427193,
                    "z": 0.012146749533712864
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.28887197375297546,
        "expert_target_speed": 7.470131006721932,
        "target_point": [
            25.200710154944417,
            2.3264045038572636
        ],
        "target_point_next": [
            29.54795030110136,
            2.174746342397865
        ]
    },
    "510": {
        "acceleration": [
            0.8737850189208984,
            -1.4038360118865967,
            0.010001175105571747
        ],
        "angular_velocity": [
            -0.8453594446182251,
            -1.5564002990722656,
            11.545294761657715
        ],
        "forward_vector": [
            -0.9984836578369141,
            -0.05402722582221031,
            0.010555310174822807
        ],
        "right_vector": [
            0.054076340049505234,
            -0.9985270500183105,
            0.004424313083291054
        ],
        "location": [
            -138.13265991210938,
            4295.02978515625,
            372.9518737792969
        ],
        "rotation": [
            -0.25350943207740784,
            0.6047859191894531,
            -176.9027862548828
        ],
        "velocity": [
            -7.224246501922607,
            -0.5445554852485657,
            0.02732803300023079
        ],
        "speed": 7.244741416852317,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.802967071533203,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -148.93492126464844,
                4295.14697265625,
                372.99078369140625
            ],
            "velocity": [
                -4.225503921508789,
                0.02590235136449337,
                0.013977584429085255
            ],
            "speed_kmh": 15.212183145487387,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1781973838806152,
                "transform": {
                    "location": {
                        "x": -177.3133544921875,
                        "y": 4244.87451171875,
                        "z": 372.96307373046875
                    },
                    "rotation": {
                        "roll": -0.004699713084846735,
                        "pitch": 0.3269679546356201,
                        "yaw": 90.62047576904297
                    }
                },
                "velocity": {
                    "x": -0.02925841324031353,
                    "y": 1.177166223526001,
                    "z": 0.03965567424893379
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4781135320663452,
                "transform": {
                    "location": {
                        "x": -174.56069946289062,
                        "y": 4349.02197265625,
                        "z": 373.1069030761719
                    },
                    "rotation": {
                        "roll": -0.019073499366641045,
                        "pitch": 0.39373987913131714,
                        "yaw": -89.9273910522461
                    }
                },
                "velocity": {
                    "x": 0.023123575374484062,
                    "y": -1.476769208908081,
                    "z": 0.0586308091878891
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.592413902282715,
                "transform": {
                    "location": {
                        "x": -204.6482696533203,
                        "y": 4298.8369140625,
                        "z": 373.1853332519531
                    },
                    "rotation": {
                        "roll": -0.011505126953125,
                        "pitch": -0.26580363512039185,
                        "yaw": 0.01972057856619358
                    }
                },
                "velocity": {
                    "x": 5.592021942138672,
                    "y": 0.050259098410606384,
                    "z": -0.04307001084089279
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.259649753570557,
                "transform": {
                    "location": {
                        "x": -204.59523010253906,
                        "y": 4302.08544921875,
                        "z": 373.213623046875
                    },
                    "rotation": {
                        "roll": -0.01666259951889515,
                        "pitch": -0.33855879306793213,
                        "yaw": -0.0410766638815403
                    }
                },
                "velocity": {
                    "x": 5.25899076461792,
                    "y": 0.045385636389255524,
                    "z": 0.06977609544992447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.878584861755371,
                "transform": {
                    "location": {
                        "x": -174.48500061035156,
                        "y": 4327.45263671875,
                        "z": 373.11663818359375
                    },
                    "rotation": {
                        "roll": 0.0004885453381575644,
                        "pitch": -0.03787339851260185,
                        "yaw": -90.03105926513672
                    }
                },
                "velocity": {
                    "x": -0.00272737885825336,
                    "y": -6.878583908081055,
                    "z": -0.002410297282040119
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.63796329498291,
                "transform": {
                    "location": {
                        "x": -177.47373962402344,
                        "y": 4265.66162109375,
                        "z": 373.0067138671875
                    },
                    "rotation": {
                        "roll": 0.0028145238757133484,
                        "pitch": 0.11702845245599747,
                        "yaw": 90.1786880493164
                    }
                },
                "velocity": {
                    "x": -0.02066783793270588,
                    "y": 6.637899398803711,
                    "z": 0.020564546808600426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.182435035705566,
                "transform": {
                    "location": {
                        "x": -76.4555435180664,
                        "y": 4294.73291015625,
                        "z": 372.6999206542969
                    },
                    "rotation": {
                        "roll": 0.0020916720386594534,
                        "pitch": 0.24926774203777313,
                        "yaw": 179.85853576660156
                    }
                },
                "velocity": {
                    "x": -8.18231201171875,
                    "y": 0.029553793370723724,
                    "z": 0.03367908298969269
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.95663452148438,
                        "y": 4302.16748046875,
                        "z": 373.2536926269531
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 13.417229652404785,
                "transform": {
                    "location": {
                        "x": -67.37140655517578,
                        "y": 4298.11669921875,
                        "z": 372.6684265136719
                    },
                    "rotation": {
                        "roll": 0.00021028579794801772,
                        "pitch": -0.2358054369688034,
                        "yaw": -0.344635009765625
                    }
                },
                "velocity": {
                    "x": 13.4168701171875,
                    "y": -0.08065107464790344,
                    "z": -0.056029438972473145
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11463,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -58.498435974121094,
                        "y": 4301.22021484375,
                        "z": 372.6375732421875
                    },
                    "rotation": {
                        "roll": -5.211065259858039e-11,
                        "pitch": -0.23711682856082916,
                        "yaw": -0.3386535942554474
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -220.0524139404297,
                        "y": 4298.91796875,
                        "z": 373.2542419433594
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.305156707763672,
                "transform": {
                    "location": {
                        "x": -136.4840545654297,
                        "y": 4298.5234375,
                        "z": 372.95513916015625
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": -0.23275917768478394,
                        "yaw": -0.3300170600414276
                    }
                },
                "velocity": {
                    "x": 13.304832458496094,
                    "y": -0.07665376365184784,
                    "z": -0.0525214709341526
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399322509765625,
                "transform": {
                    "location": {
                        "x": -123.40203094482422,
                        "y": 4301.69775390625,
                        "z": 372.9009704589844
                    },
                    "rotation": {
                        "roll": -3.0517636332660913e-05,
                        "pitch": -0.2246927171945572,
                        "yaw": -0.344146728515625
                    }
                },
                "velocity": {
                    "x": 13.398974418640137,
                    "y": -0.08116772770881653,
                    "z": -0.05221552774310112
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013308515772223473,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 9.982492338167503e-05,
                        "pitch": 0.19500188529491425,
                        "yaw": 179.71380615234375
                    }
                },
                "velocity": {
                    "x": 1.6445816072518937e-05,
                    "y": -1.541965730211814e-06,
                    "z": 0.0013307490153238177
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08651065826416,
                "transform": {
                    "location": {
                        "x": -100.19406127929688,
                        "y": 4294.85888671875,
                        "z": 372.802490234375
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.25154903531074524,
                        "yaw": 179.65548706054688
                    }
                },
                "velocity": {
                    "x": -8.08630084991455,
                    "y": 0.04861912131309509,
                    "z": 0.03199423849582672
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.061034202575684,
                "transform": {
                    "location": {
                        "x": -119.29702758789062,
                        "y": 4294.97021484375,
                        "z": 372.87689208984375
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": 0.21808110177516937,
                        "yaw": 179.65155029296875
                    }
                },
                "velocity": {
                    "x": -8.060820579528809,
                    "y": 0.048791736364364624,
                    "z": 0.032690200954675674
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.225606441497803,
                "transform": {
                    "location": {
                        "x": -148.93492126464844,
                        "y": 4295.14697265625,
                        "z": 372.99078369140625
                    },
                    "rotation": {
                        "roll": 0.0005681480397470295,
                        "pitch": 0.23739004135131836,
                        "yaw": 179.6457061767578
                    }
                },
                "velocity": {
                    "x": -4.225503921508789,
                    "y": 0.02590235136449337,
                    "z": 0.013977584429085255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8027057647705078,
        "expert_target_speed": 7.893213063305394,
        "target_point": [
            23.46850572777898,
            1.6934468100635305
        ],
        "target_point_next": [
            27.810561433881926,
            1.4325841423728904
        ]
    },
    "515": {
        "acceleration": [
            3.2006263732910156,
            -1.1773192882537842,
            -0.009053610265254974
        ],
        "angular_velocity": [
            -0.17463749647140503,
            -1.3863455057144165,
            9.24111270904541
        ],
        "forward_vector": [
            -0.9947433471679688,
            -0.10233858227729797,
            0.0035312098916620016
        ],
        "right_vector": [
            0.1023632064461708,
            -0.9947173595428467,
            0.0076889535412192345
        ],
        "location": [
            -139.8602294921875,
            4294.8544921875,
            372.9599609375
        ],
        "rotation": [
            -0.4405516982078552,
            0.20232385396957397,
            -174.12611389160156
        ],
        "velocity": [
            -6.572983264923096,
            -0.8957964777946472,
            0.024674614891409874
        ],
        "speed": 6.633744065803893,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.1188383102417,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -149.974609375,
                4295.15283203125,
                372.9947204589844
            ],
            "velocity": [
                -3.689962148666382,
                0.022779857739806175,
                0.013158712536096573
            ],
            "speed_kmh": 13.28420133126694,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1580922603607178,
                "transform": {
                    "location": {
                        "x": -177.32061767578125,
                        "y": 4245.29150390625,
                        "z": 372.9684143066406
                    },
                    "rotation": {
                        "roll": 0.002822411246597767,
                        "pitch": 0.33868172764778137,
                        "yaw": 90.62659454345703
                    }
                },
                "velocity": {
                    "x": -0.0296262726187706,
                    "y": 2.157845973968506,
                    "z": 0.013607196509838104
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.502291440963745,
                "transform": {
                    "location": {
                        "x": -174.55734252929688,
                        "y": 4348.5234375,
                        "z": 373.114990234375
                    },
                    "rotation": {
                        "roll": -0.005950937047600746,
                        "pitch": 0.4560243785381317,
                        "yaw": -89.82482147216797
                    }
                },
                "velocity": {
                    "x": 0.01951325498521328,
                    "y": -2.5021541118621826,
                    "z": 0.01750228926539421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.512030124664307,
                "transform": {
                    "location": {
                        "x": -203.25991821289062,
                        "y": 4298.84423828125,
                        "z": 373.1771545410156
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.22519132494926453,
                        "yaw": 0.22631977498531342
                    }
                },
                "velocity": {
                    "x": 5.511956691741943,
                    "y": 0.015117313712835312,
                    "z": -0.024103492498397827
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.484563827514648,
                "transform": {
                    "location": {
                        "x": -203.2508544921875,
                        "y": 4302.09130859375,
                        "z": 373.21923828125
                    },
                    "rotation": {
                        "roll": 0.002991233952343464,
                        "pitch": -0.23916588723659515,
                        "yaw": 0.18369482457637787
                    }
                },
                "velocity": {
                    "x": 5.4845404624938965,
                    "y": 0.015845950692892075,
                    "z": -0.0016403578920289874
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.67535400390625,
                "transform": {
                    "location": {
                        "x": -174.48500061035156,
                        "y": 4325.75927734375,
                        "z": 373.1156921386719
                    },
                    "rotation": {
                        "roll": 9.846747161645908e-06,
                        "pitch": -0.04381566122174263,
                        "yaw": -90.03404235839844
                    }
                },
                "velocity": {
                    "x": -0.0035401610657572746,
                    "y": -6.675351619720459,
                    "z": -0.004796409513801336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.641363620758057,
                "transform": {
                    "location": {
                        "x": -177.47906494140625,
                        "y": 4267.330078125,
                        "z": 373.0118713378906
                    },
                    "rotation": {
                        "roll": 0.0015476575354114175,
                        "pitch": 0.1624492108821869,
                        "yaw": 90.19432067871094
                    }
                },
                "velocity": {
                    "x": -0.019711118191480637,
                    "y": 6.641299247741699,
                    "z": 0.02149208076298237
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.9857988357543945,
                "transform": {
                    "location": {
                        "x": -78.47991943359375,
                        "y": 4294.73974609375,
                        "z": 372.7083435058594
                    },
                    "rotation": {
                        "roll": 0.0028166992124170065,
                        "pitch": 0.23329876363277435,
                        "yaw": 179.77337646484375
                    }
                },
                "velocity": {
                    "x": -7.985652446746826,
                    "y": 0.03527701273560524,
                    "z": 0.033003177493810654
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.61984252929688,
                        "y": 4302.15966796875,
                        "z": 373.2459716796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -63.90265655517578,
                        "y": 4298.00341796875,
                        "z": 372.6589660644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -218.66241455078125,
                        "y": 4298.90966796875,
                        "z": 373.24615478515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.226491928100586,
                "transform": {
                    "location": {
                        "x": -133.17234802246094,
                        "y": 4298.50439453125,
                        "z": 372.942138671875
                    },
                    "rotation": {
                        "roll": -0.0010986326960846782,
                        "pitch": -0.21499384939670563,
                        "yaw": -0.3416137099266052
                    }
                },
                "velocity": {
                    "x": 13.226152420043945,
                    "y": -0.07884771376848221,
                    "z": -0.05255461484193802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.40018367767334,
                "transform": {
                    "location": {
                        "x": -120.05242156982422,
                        "y": 4301.67822265625,
                        "z": 372.8878173828125
                    },
                    "rotation": {
                        "roll": 0.0005169547512196004,
                        "pitch": -0.22644124925136566,
                        "yaw": -0.352020263671875
                    }
                },
                "velocity": {
                    "x": 13.399825096130371,
                    "y": -0.08264140784740448,
                    "z": -0.05265272036194801
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015043801395222545,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 1.8904171156464145e-05,
                    "y": -5.741086624766467e-06,
                    "z": 0.0015042503364384174
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.199838638305664,
                "transform": {
                    "location": {
                        "x": -102.24593353271484,
                        "y": 4294.87060546875,
                        "z": 372.81085205078125
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.23624257743358612,
                        "yaw": 179.65509033203125
                    }
                },
                "velocity": {
                    "x": -8.199623107910156,
                    "y": 0.04933548718690872,
                    "z": 0.03318902105093002
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.778888702392578,
                "transform": {
                    "location": {
                        "x": -121.0949935913086,
                        "y": 4294.98095703125,
                        "z": 372.88433837890625
                    },
                    "rotation": {
                        "roll": -0.0004882811044808477,
                        "pitch": 0.19168925285339355,
                        "yaw": 179.65357971191406
                    }
                },
                "velocity": {
                    "x": -6.7787089347839355,
                    "y": 0.041088175028562546,
                    "z": 0.02738625556230545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.690056085586548,
                "transform": {
                    "location": {
                        "x": -149.974609375,
                        "y": 4295.15283203125,
                        "z": 372.9947204589844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.20288392901420593,
                        "yaw": 179.64418029785156
                    }
                },
                "velocity": {
                    "x": -3.689962148666382,
                    "y": 0.022779857739806175,
                    "z": 0.013158712536096573
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9997081160545349,
        "expert_target_speed": 7.384281449200734,
        "target_point": [
            21.78654968898712,
            0.5570003263096566
        ],
        "target_point_next": [
            26.110870653607797,
            0.08610194954673123
        ]
    },
    "520": {
        "acceleration": [
            6.038312911987305,
            0.1193857192993164,
            -0.013102702796459198
        ],
        "angular_velocity": [
            0.8322127461433411,
            -1.507154107093811,
            11.89277172088623
        ],
        "forward_vector": [
            -0.9885532259941101,
            -0.15085703134536743,
            -0.0021610241383314133
        ],
        "right_vector": [
            0.15083959698677063,
            -0.9885353446006775,
            0.006734534632414579
        ],
        "location": [
            -141.39578247070312,
            4294.6181640625,
            372.96697998046875
        ],
        "rotation": [
            -0.3858642280101776,
            -0.12381765991449356,
            -171.32337951660156
        ],
        "velocity": [
            -5.384987831115723,
            -0.9920833110809326,
            0.020482148975133896
        ],
        "speed": 5.475611677008307,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.345216751098633,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -150.7253875732422,
                4295.1572265625,
                372.9978332519531
            ],
            "velocity": [
                -2.385660409927368,
                0.014077776111662388,
                0.00905671063810587
            ],
            "speed_kmh": 8.58858889216984,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2735369205474854,
                "transform": {
                    "location": {
                        "x": -177.32960510253906,
                        "y": 4245.96484375,
                        "z": 372.9715270996094
                    },
                    "rotation": {
                        "roll": 0.0015159426257014275,
                        "pitch": 0.346099317073822,
                        "yaw": 90.6545181274414
                    }
                },
                "velocity": {
                    "x": -0.04459402337670326,
                    "y": 3.2732057571411133,
                    "z": 0.013397140428423882
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.8828275203704834,
                "transform": {
                    "location": {
                        "x": -174.55116271972656,
                        "y": 4347.7236328125,
                        "z": 373.11712646484375
                    },
                    "rotation": {
                        "roll": -0.00747681874781847,
                        "pitch": 0.5749652981758118,
                        "yaw": -89.70699310302734
                    }
                },
                "velocity": {
                    "x": 0.03177480772137642,
                    "y": -3.882692575454712,
                    "z": 0.006170749664306641
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.965046405792236,
                "transform": {
                    "location": {
                        "x": -201.92242431640625,
                        "y": 4298.84814453125,
                        "z": 373.17193603515625
                    },
                    "rotation": {
                        "roll": -0.0018920894945040345,
                        "pitch": -0.24981415271759033,
                        "yaw": 0.16318179666996002
                    }
                },
                "velocity": {
                    "x": 4.964993953704834,
                    "y": 0.010776754468679428,
                    "z": -0.02017621509730816
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.901074409484863,
                "transform": {
                    "location": {
                        "x": -201.929443359375,
                        "y": 4302.095703125,
                        "z": 373.2164611816406
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.25216373801231384,
                        "yaw": 0.1722726821899414
                    }
                },
                "velocity": {
                    "x": 4.901015281677246,
                    "y": 0.012454209849238396,
                    "z": -0.02055826596915722
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.388386249542236,
                "transform": {
                    "location": {
                        "x": -174.4860076904297,
                        "y": 4324.12744140625,
                        "z": 373.1145935058594
                    },
                    "rotation": {
                        "roll": 0.00048612256068736315,
                        "pitch": -0.05184796452522278,
                        "yaw": -90.03997802734375
                    }
                },
                "velocity": {
                    "x": -0.005332356784492731,
                    "y": -6.3883819580078125,
                    "z": -0.005243396852165461
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.260636329650879,
                "transform": {
                    "location": {
                        "x": -177.48297119140625,
                        "y": 4268.94189453125,
                        "z": 373.0167236328125
                    },
                    "rotation": {
                        "roll": 0.0010153191396966577,
                        "pitch": 0.12267018854618073,
                        "yaw": 90.14505767822266
                    }
                },
                "velocity": {
                    "x": -0.01637803018093109,
                    "y": 6.260590076446533,
                    "z": 0.01773151382803917
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.05614185333252,
                "transform": {
                    "location": {
                        "x": -80.47874450683594,
                        "y": 4294.74951171875,
                        "z": 372.716552734375
                    },
                    "rotation": {
                        "roll": 0.0014117712853476405,
                        "pitch": 0.23749932646751404,
                        "yaw": 179.74612426757812
                    }
                },
                "velocity": {
                    "x": -8.055990219116211,
                    "y": 0.03547801822423935,
                    "z": 0.034451913088560104
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.2848358154297,
                        "y": 4302.15234375,
                        "z": 373.24078369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11465,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -60.430702209472656,
                        "y": 4297.97509765625,
                        "z": 372.64508056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2363860011100769,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -64.99921417236328,
                        "y": 4294.7509765625,
                        "z": 372.9223327636719
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -217.3114013671875,
                        "y": 4298.90234375,
                        "z": 373.2408142089844
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.251564979553223,
                "transform": {
                    "location": {
                        "x": -129.86273193359375,
                        "y": 4298.484375,
                        "z": 372.9292907714844
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.22766385972499847,
                        "yaw": -0.3380126655101776
                    }
                },
                "velocity": {
                    "x": 13.251232147216797,
                    "y": -0.07801972329616547,
                    "z": -0.052312545478343964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399872779846191,
                "transform": {
                    "location": {
                        "x": -116.70281219482422,
                        "y": 4301.658203125,
                        "z": 372.87451171875
                    },
                    "rotation": {
                        "roll": 0.0005750209675170481,
                        "pitch": -0.2262568324804306,
                        "yaw": -0.3444213569164276
                    }
                },
                "velocity": {
                    "x": 13.39952278137207,
                    "y": -0.081412173807621,
                    "z": -0.05244790017604828
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014943295391276479,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 1.8092430764227174e-05,
                    "y": 5.7484908211336005e-06,
                    "z": 0.0014942089328542352
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.068306922912598,
                "transform": {
                    "location": {
                        "x": -104.27749633789062,
                        "y": 4294.88232421875,
                        "z": 372.819091796875
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": 0.2268373966217041,
                        "yaw": 179.65797424316406
                    }
                },
                "velocity": {
                    "x": -8.068094253540039,
                    "y": 0.048161983489990234,
                    "z": 0.0332951620221138
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.086153030395508,
                "transform": {
                    "location": {
                        "x": -122.80773162841797,
                        "y": 4294.99072265625,
                        "z": 372.8907470703125
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": 0.22689203917980194,
                        "yaw": 179.6527557373047
                    }
                },
                "velocity": {
                    "x": -7.085969924926758,
                    "y": 0.04322952777147293,
                    "z": 0.026936424896121025
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.3857192993164062,
                "transform": {
                    "location": {
                        "x": -150.7253875732422,
                        "y": 4295.1572265625,
                        "z": 372.9978332519531
                    },
                    "rotation": {
                        "roll": 1.5594461729051545e-05,
                        "pitch": 0.16547498106956482,
                        "yaw": 179.6528778076172
                    }
                },
                "velocity": {
                    "x": -2.385660409927368,
                    "y": 0.014077776111662388,
                    "z": 0.00905671063810587
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0011522769927979,
        "expert_target_speed": 6.401805316658908,
        "target_point": [
            20.234093435822626,
            -0.51094382369623
        ],
        "target_point_next": [
            24.53021603142359,
            -1.1927265822511024
        ]
    },
    "525": {
        "acceleration": [
            0.5987167358398438,
            -0.5147314071655273,
            0.01636447384953499
        ],
        "angular_velocity": [
            0.1733250617980957,
            0.9540297985076904,
            7.022921085357666
        ],
        "forward_vector": [
            -0.9829952120780945,
            -0.18360862135887146,
            -0.0028586348053067923
        ],
        "right_vector": [
            0.18359306454658508,
            -0.9829896688461304,
            0.004992852918803692
        ],
        "location": [
            -142.62217712402344,
            4294.375,
            372.9715270996094
        ],
        "rotation": [
            -0.28607177734375,
            -0.16378793120384216,
            -169.41993713378906
        ],
        "velocity": [
            -4.671330451965332,
            -1.0510390996932983,
            0.016374940052628517
        ],
        "speed": 4.788111462836128,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.352535247802734,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -150.93795776367188,
                4295.1572265625,
                372.9990539550781
            ],
            "velocity": [
                9.931053500622511e-05,
                -3.4116052120225504e-05,
                -6.269273171710665e-07
            ],
            "speed_kmh": 0.0003780322342830872,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.608450412750244,
                "transform": {
                    "location": {
                        "x": -177.3426513671875,
                        "y": 4246.958984375,
                        "z": 372.9753112792969
                    },
                    "rotation": {
                        "roll": 0.0009523903718218207,
                        "pitch": 0.36475256085395813,
                        "yaw": 90.70941162109375
                    }
                },
                "velocity": {
                    "x": -0.06296240538358688,
                    "y": 4.607983589172363,
                    "z": 0.018435707315802574
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.1952924728393555,
                "transform": {
                    "location": {
                        "x": -174.54202270507812,
                        "y": 4346.5810546875,
                        "z": 373.1180725097656
                    },
                    "rotation": {
                        "roll": -0.007263150531798601,
                        "pitch": 0.6146759986877441,
                        "yaw": -89.60382080078125
                    }
                },
                "velocity": {
                    "x": 0.04485950991511345,
                    "y": -5.195094108581543,
                    "z": 0.006960420403629541
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.042862892150879,
                "transform": {
                    "location": {
                        "x": -200.70375061035156,
                        "y": 4298.85107421875,
                        "z": 373.16705322265625
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": -0.2138054072856903,
                        "yaw": 0.07616598159074783
                    }
                },
                "velocity": {
                    "x": 5.042820453643799,
                    "y": 0.009989606216549873,
                    "z": -0.018190722912549973
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.207668781280518,
                "transform": {
                    "location": {
                        "x": -200.71507263183594,
                        "y": 4302.09912109375,
                        "z": 373.2120666503906
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -0.20095781981945038,
                        "yaw": 0.15865759551525116
                    }
                },
                "velocity": {
                    "x": 5.207634925842285,
                    "y": 0.012319930829107761,
                    "z": -0.014146260917186737
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.205260276794434,
                "transform": {
                    "location": {
                        "x": -174.4879608154297,
                        "y": 4322.55419921875,
                        "z": 373.1134338378906
                    },
                    "rotation": {
                        "roll": -0.0009765640133991838,
                        "pitch": -0.05130154639482498,
                        "yaw": -90.04444122314453
                    }
                },
                "velocity": {
                    "x": -0.004741893149912357,
                    "y": -6.205255508422852,
                    "z": -0.0056955525651574135
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.08125114440918,
                "transform": {
                    "location": {
                        "x": -177.48695373535156,
                        "y": 4270.47802734375,
                        "z": 373.0211486816406
                    },
                    "rotation": {
                        "roll": 0.00017676492279861122,
                        "pitch": 0.12799090147018433,
                        "yaw": 90.18128967285156
                    }
                },
                "velocity": {
                    "x": -0.01624651812016964,
                    "y": 6.081203937530518,
                    "z": 0.01766396500170231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.048792839050293,
                "transform": {
                    "location": {
                        "x": -82.49593353271484,
                        "y": 4294.7587890625,
                        "z": 372.7248229980469
                    },
                    "rotation": {
                        "roll": 0.0008590264478698373,
                        "pitch": 0.23831211030483246,
                        "yaw": 179.72137451171875
                    }
                },
                "velocity": {
                    "x": -8.04862117767334,
                    "y": 0.040880389511585236,
                    "z": 0.03309853374958038
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -216.00436401367188,
                        "y": 4302.14404296875,
                        "z": 373.2357482910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -66.97914123535156,
                        "y": 4294.76318359375,
                        "z": 372.6830749511719
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -215.5860137939453,
                        "y": 4298.8916015625,
                        "z": 373.2340087890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.26224422454834,
                "transform": {
                    "location": {
                        "x": -126.54750061035156,
                        "y": 4298.46484375,
                        "z": 372.9162292480469
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.22665297985076904,
                        "yaw": -0.3397521674633026
                    }
                },
                "velocity": {
                    "x": 13.261893272399902,
                    "y": -0.08080967515707016,
                    "z": -0.05269184336066246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399785041809082,
                "transform": {
                    "location": {
                        "x": -113.35320281982422,
                        "y": 4301.63818359375,
                        "z": 372.86126708984375
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.22613389790058136,
                        "yaw": -0.3496093451976776
                    }
                },
                "velocity": {
                    "x": 13.399431228637695,
                    "y": -0.08107564598321915,
                    "z": -0.05398978292942047
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009498738218098879,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 1.2571550541906618e-05,
                    "y": 1.9051527488045394e-05,
                    "z": 0.0009495994891040027
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.001145362854004,
                "transform": {
                    "location": {
                        "x": -106.28273010253906,
                        "y": 4294.8935546875,
                        "z": 372.82708740234375
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": 0.22839468717575073,
                        "yaw": 179.65618896484375
                    }
                },
                "velocity": {
                    "x": -8.00093936920166,
                    "y": 0.04734521359205246,
                    "z": 0.03257228806614876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.743973255157471,
                "transform": {
                    "location": {
                        "x": -124.69046783447266,
                        "y": 4295.0029296875,
                        "z": 372.8979187011719
                    },
                    "rotation": {
                        "roll": 0.0002558307023718953,
                        "pitch": 0.24649468064308167,
                        "yaw": 179.6502685546875
                    }
                },
                "velocity": {
                    "x": -7.743773460388184,
                    "y": 0.047163933515548706,
                    "z": 0.029575519263744354
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010500896314624697,
                "transform": {
                    "location": {
                        "x": -150.93795776367188,
                        "y": 4295.1572265625,
                        "z": 372.9990539550781
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": 0.12525200843811035,
                        "yaw": 179.51239013671875
                    }
                },
                "velocity": {
                    "x": 9.931053500622511e-05,
                    "y": -3.4116052120225504e-05,
                    "z": -6.269273171710665e-07
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0006834268569946,
        "expert_target_speed": 5.7702560626339165,
        "target_point": [
            18.955765439410484,
            -1.1965930336878108
        ],
        "target_point_next": [
            23.226872036873047,
            -2.020695890986354
        ]
    },
    "530": {
        "acceleration": [
            -1.596975326538086,
            -0.9147310256958008,
            0.06536200642585754
        ],
        "angular_velocity": [
            -0.06922680139541626,
            1.1844511032104492,
            6.407255172729492
        ],
        "forward_vector": [
            -0.9775108098983765,
            -0.21087057888507843,
            0.0024936171248555183
        ],
        "right_vector": [
            0.21087810397148132,
            -0.9775068163871765,
            0.0032895193435251713
        ],
        "location": [
            -143.82101440429688,
            4294.09814453125,
            372.97503662109375
        ],
        "rotation": [
            -0.18847650289535522,
            0.1428738832473755,
            -167.8265838623047
        ],
        "velocity": [
            -4.943033695220947,
            -1.2265962362289429,
            0.02072587050497532
        ],
        "speed": 5.092948108789315,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.195743560791016,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -150.9383544921875,
                4295.1572265625,
                372.9983825683594
            ],
            "velocity": [
                5.601960947387852e-05,
                -2.995839349750895e-05,
                -0.0006151982815936208
            ],
            "speed_kmh": 0.0022264905062684246,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.24261999130249,
                "transform": {
                    "location": {
                        "x": -177.35952758789062,
                        "y": 4248.23876953125,
                        "z": 372.98101806640625
                    },
                    "rotation": {
                        "roll": 0.001965668983757496,
                        "pitch": 0.31024765968322754,
                        "yaw": 90.75141906738281
                    }
                },
                "velocity": {
                    "x": -0.07170373946428299,
                    "y": 5.242089748382568,
                    "z": 0.020419377833604813
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.41756534576416,
                "transform": {
                    "location": {
                        "x": -174.53077697753906,
                        "y": 4345.23291015625,
                        "z": 373.1198425292969
                    },
                    "rotation": {
                        "roll": -0.007110589183866978,
                        "pitch": 0.33620238304138184,
                        "yaw": -89.47386932373047
                    }
                },
                "velocity": {
                    "x": 0.049081142991781235,
                    "y": -5.417342185974121,
                    "z": 0.002278680680319667
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.774275779724121,
                "transform": {
                    "location": {
                        "x": -199.3321075439453,
                        "y": 4298.853515625,
                        "z": 373.161865234375
                    },
                    "rotation": {
                        "roll": -0.0021972658578306437,
                        "pitch": -0.17248958349227905,
                        "yaw": 0.047199610620737076
                    }
                },
                "velocity": {
                    "x": 5.774219989776611,
                    "y": 0.012644531205296516,
                    "z": -0.022041553631424904
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.46444845199585,
                "transform": {
                    "location": {
                        "x": -199.3839874267578,
                        "y": 4302.10302734375,
                        "z": 373.20721435546875
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.17913536727428436,
                        "yaw": 0.16982018947601318
                    }
                },
                "velocity": {
                    "x": 5.4644012451171875,
                    "y": 0.013479077257215977,
                    "z": -0.01839333400130272
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.933323860168457,
                "transform": {
                    "location": {
                        "x": -174.48983764648438,
                        "y": 4321.03857421875,
                        "z": 373.1121520996094
                    },
                    "rotation": {
                        "roll": -0.00024413932987954468,
                        "pitch": -0.055358681827783585,
                        "yaw": -90.0452880859375
                    }
                },
                "velocity": {
                    "x": -0.0046332357451319695,
                    "y": -5.933319091796875,
                    "z": -0.005809307098388672
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.917057514190674,
                "transform": {
                    "location": {
                        "x": -177.49078369140625,
                        "y": 4271.98095703125,
                        "z": 373.02532958984375
                    },
                    "rotation": {
                        "roll": -0.0004882797657046467,
                        "pitch": 0.13221196830272675,
                        "yaw": 90.1363525390625
                    }
                },
                "velocity": {
                    "x": -0.014931906014680862,
                    "y": 5.917014122009277,
                    "z": 0.017096174880862236
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.049944877624512,
                "transform": {
                    "location": {
                        "x": -84.50679779052734,
                        "y": 4294.7685546875,
                        "z": 372.7331237792969
                    },
                    "rotation": {
                        "roll": 0.0010259527480229735,
                        "pitch": 0.2333534061908722,
                        "yaw": 179.70269775390625
                    }
                },
                "velocity": {
                    "x": -8.049768447875977,
                    "y": 0.04173313081264496,
                    "z": 0.03306645154953003
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -214.40750122070312,
                        "y": 4302.13427734375,
                        "z": 373.22955322265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -68.98999786376953,
                        "y": 4294.775390625,
                        "z": 372.68560791015625
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -214.18109130859375,
                        "y": 4298.8828125,
                        "z": 373.22857666015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22043068706989288,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.247657775878906,
                "transform": {
                    "location": {
                        "x": -123.23406219482422,
                        "y": 4298.4453125,
                        "z": 372.9031982421875
                    },
                    "rotation": {
                        "roll": 0.0003845806641038507,
                        "pitch": -0.22543038427829742,
                        "yaw": -0.3425903618335724
                    }
                },
                "velocity": {
                    "x": 13.247315406799316,
                    "y": -0.0791732594370842,
                    "z": -0.05283099412918091
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.39989185333252,
                "transform": {
                    "location": {
                        "x": -110.00366973876953,
                        "y": 4301.61865234375,
                        "z": 372.84796142578125
                    },
                    "rotation": {
                        "roll": -0.0002136231050826609,
                        "pitch": -0.22787559032440186,
                        "yaw": -0.3459167182445526
                    }
                },
                "velocity": {
                    "x": 13.399545669555664,
                    "y": -0.08031818270683289,
                    "z": -0.053170569241046906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010121739469468594,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 1.16412338684313e-05,
                    "y": 1.2728946785500739e-05,
                    "z": 0.001012026914395392
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072393417358398,
                "transform": {
                    "location": {
                        "x": -108.29234313964844,
                        "y": 4294.90576171875,
                        "z": 372.83514404296875
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.22998611629009247,
                        "yaw": 179.65457153320312
                    }
                },
                "velocity": {
                    "x": -8.072178840637207,
                    "y": 0.04880853369832039,
                    "z": 0.032888468354940414
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.41681957244873,
                "transform": {
                    "location": {
                        "x": -126.77476501464844,
                        "y": 4295.015625,
                        "z": 372.906005859375
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": 0.24860520660877228,
                        "yaw": 179.6473388671875
                    }
                },
                "velocity": {
                    "x": -8.416597366333008,
                    "y": 0.05157425254583359,
                    "z": 0.03278648480772972
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006184696103446186,
                "transform": {
                    "location": {
                        "x": -150.9383544921875,
                        "y": 4295.1572265625,
                        "z": 372.9983825683594
                    },
                    "rotation": {
                        "roll": -0.0020446772687137127,
                        "pitch": 0.1927684247493744,
                        "yaw": 179.51242065429688
                    }
                },
                "velocity": {
                    "x": 5.601960947387852e-05,
                    "y": -2.995839349750895e-05,
                    "z": -0.0006151982815936208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9989848732948303,
        "expert_target_speed": 6.035700540212158,
        "target_point": [
            17.684902547361947,
            -1.741044674714316
        ],
        "target_point_next": [
            21.931442634513406,
            -2.683591423958915
        ]
    },
    "535": {
        "acceleration": [
            0.04119873046875,
            -0.570366382598877,
            -0.08417034149169922
        ],
        "angular_velocity": [
            -0.0608946830034256,
            0.1317252665758133,
            6.177116870880127
        ],
        "forward_vector": [
            -0.9714958667755127,
            -0.23703256249427795,
            0.003370874561369419
        ],
        "right_vector": [
            0.23704148828983307,
            -0.9714961647987366,
            0.0025523563381284475
        ],
        "location": [
            -145.04827880859375,
            4293.7841796875,
            372.9795227050781
        ],
        "rotation": [
            -0.146240234375,
            0.1931372433900833,
            -166.2884521484375
        ],
        "velocity": [
            -4.870858192443848,
            -1.3330914974212646,
            0.013306264765560627
        ],
        "speed": 5.049989353592165,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.048099040985107,
        "front_vehicle_info": {
            "id": 11449,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -150.9384307861328,
                4295.1572265625,
                372.9983215332031
            ],
            "velocity": [
                1.0809413652168587e-05,
                -1.4169571841193829e-05,
                -0.0006881713634356856
            ],
            "speed_kmh": 0.0024782475452480644,
            "color": "71,12,12"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.646790027618408,
                "transform": {
                    "location": {
                        "x": -177.37835693359375,
                        "y": 4249.60888671875,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 0.003192439442500472,
                        "pitch": 0.2608107626438141,
                        "yaw": 90.76756286621094
                    }
                },
                "velocity": {
                    "x": -0.07592537999153137,
                    "y": 5.646238327026367,
                    "z": 0.021668853238224983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.195010662078857,
                "transform": {
                    "location": {
                        "x": -174.51687622070312,
                        "y": 4343.6298828125,
                        "z": 373.1193542480469
                    },
                    "rotation": {
                        "roll": 0.011566541157662868,
                        "pitch": 0.5855588912963867,
                        "yaw": -89.55419158935547
                    }
                },
                "velocity": {
                    "x": 0.045357607305049896,
                    "y": -7.1948676109313965,
                    "z": 0.001784582040272653
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.760550498962402,
                "transform": {
                    "location": {
                        "x": -197.70616149902344,
                        "y": 4298.8525390625,
                        "z": 373.1558837890625
                    },
                    "rotation": {
                        "roll": 0.0008216857677325606,
                        "pitch": -0.1491098552942276,
                        "yaw": -0.0303955040872097
                    }
                },
                "velocity": {
                    "x": 6.760492324829102,
                    "y": -0.012677240185439587,
                    "z": -0.025010207667946815
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.683309078216553,
                "transform": {
                    "location": {
                        "x": -197.92491149902344,
                        "y": 4302.10498046875,
                        "z": 373.2013244628906
                    },
                    "rotation": {
                        "roll": 0.005492593627423048,
                        "pitch": -0.09786977618932724,
                        "yaw": -0.02279662899672985
                    }
                },
                "velocity": {
                    "x": 6.68325662612915,
                    "y": -0.009536480531096458,
                    "z": -0.02466149814426899
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.76806640625,
                "transform": {
                    "location": {
                        "x": -174.4918670654297,
                        "y": 4319.57666015625,
                        "z": 373.11083984375
                    },
                    "rotation": {
                        "roll": -0.00030517420964315534,
                        "pitch": -0.06301531940698624,
                        "yaw": -90.04451751708984
                    }
                },
                "velocity": {
                    "x": -0.0045257508754730225,
                    "y": -5.768062114715576,
                    "z": -0.005564803723245859
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.652688503265381,
                "transform": {
                    "location": {
                        "x": -177.49476623535156,
                        "y": 4273.4248046875,
                        "z": 373.0293273925781
                    },
                    "rotation": {
                        "roll": -0.0008544959127902985,
                        "pitch": 0.12229453027248383,
                        "yaw": 90.17076873779297
                    }
                },
                "velocity": {
                    "x": -0.014486655592918396,
                    "y": 5.65264368057251,
                    "z": 0.017146511003375053
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.027247428894043,
                "transform": {
                    "location": {
                        "x": -86.51554870605469,
                        "y": 4294.7783203125,
                        "z": 372.74127197265625
                    },
                    "rotation": {
                        "roll": 0.0005468664458021522,
                        "pitch": 0.23660457134246826,
                        "yaw": 179.6984100341797
                    }
                },
                "velocity": {
                    "x": -8.027056694030762,
                    "y": 0.04473017901182175,
                    "z": 0.032592542469501495
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.339693069458008,
                "transform": {
                    "location": {
                        "x": -212.96640014648438,
                        "y": 4302.126953125,
                        "z": 373.23541259765625
                    },
                    "rotation": {
                        "roll": -0.009368897415697575,
                        "pitch": -0.4479374289512634,
                        "yaw": -0.2703551948070526
                    }
                },
                "velocity": {
                    "x": 5.338752269744873,
                    "y": -0.0021408319007605314,
                    "z": 0.100224569439888
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -70.9996109008789,
                        "y": 4294.78662109375,
                        "z": 372.6893005371094
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.556360721588135,
                "transform": {
                    "location": {
                        "x": -212.804443359375,
                        "y": 4298.8818359375,
                        "z": 373.24346923828125
                    },
                    "rotation": {
                        "roll": -0.011199950240552425,
                        "pitch": -0.2299451380968094,
                        "yaw": -0.0990295335650444
                    }
                },
                "velocity": {
                    "x": 5.555911064147949,
                    "y": 0.021587636321783066,
                    "z": 0.06731786578893661
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.258005142211914,
                "transform": {
                    "location": {
                        "x": -119.92054748535156,
                        "y": 4298.42626953125,
                        "z": 372.89013671875
                    },
                    "rotation": {
                        "roll": -3.051759267691523e-05,
                        "pitch": -0.2271447628736496,
                        "yaw": -0.3418883979320526
                    }
                },
                "velocity": {
                    "x": 13.257665634155273,
                    "y": -0.079256571829319,
                    "z": -0.05215005576610565
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399861335754395,
                "transform": {
                    "location": {
                        "x": -106.65406036376953,
                        "y": 4301.59814453125,
                        "z": 372.8345947265625
                    },
                    "rotation": {
                        "roll": 0.001953595085069537,
                        "pitch": -0.22879765927791595,
                        "yaw": -0.3590393364429474
                    }
                },
                "velocity": {
                    "x": 13.399502754211426,
                    "y": -0.08293751627206802,
                    "z": -0.05217285454273224
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0017243776237592101,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 9.380876690556761e-06,
                    "y": 3.149940675939433e-05,
                    "z": 0.0017240643501281738
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04322624206543,
                "transform": {
                    "location": {
                        "x": -110.30741882324219,
                        "y": 4294.91748046875,
                        "z": 372.84320068359375
                    },
                    "rotation": {
                        "roll": 0.000353379815351218,
                        "pitch": 0.22976072132587433,
                        "yaw": 179.65374755859375
                    }
                },
                "velocity": {
                    "x": -8.043011665344238,
                    "y": 0.04858889803290367,
                    "z": 0.03315207362174988
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.505904197692871,
                "transform": {
                    "location": {
                        "x": -128.76670837402344,
                        "y": 4295.02783203125,
                        "z": 372.9143371582031
                    },
                    "rotation": {
                        "roll": -0.0010681150015443563,
                        "pitch": 0.2012241929769516,
                        "yaw": 179.64859008789062
                    }
                },
                "velocity": {
                    "x": -7.505709171295166,
                    "y": 0.04535787180066109,
                    "z": 0.029583968222141266
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006884020986035466,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9983215332031
                    },
                    "rotation": {
                        "roll": -0.0015869137132540345,
                        "pitch": 0.20220090448856354,
                        "yaw": 179.51243591308594
                    }
                },
                "velocity": {
                    "x": 1.0809413652168587e-05,
                    "y": -1.4169571841193829e-05,
                    "z": -0.0006881713634356856
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.0004547834396362,
        "expert_target_speed": 5.980041528518873,
        "target_point": [
            16.365088531253264,
            -2.2292256517039526
        ],
        "target_point_next": [
            20.584798961561663,
            -3.28541738176169
        ]
    },
    "540": {
        "acceleration": [
            0.4656219482421875,
            -0.18719911575317383,
            -0.010984055697917938
        ],
        "angular_velocity": [
            0.277873694896698,
            -0.17850691080093384,
            1.3516546487808228
        ],
        "forward_vector": [
            -0.9650692343711853,
            -0.261968195438385,
            0.0037448315415531397
        ],
        "right_vector": [
            0.2619761526584625,
            -0.9650726318359375,
            0.001813066191971302
        ],
        "location": [
            -146.29672241210938,
            4293.4345703125,
            372.9841003417969
        ],
        "rotation": [
            -0.1038818359375,
            0.2145635485649109,
            -164.81301879882812
        ],
        "velocity": [
            -4.9149169921875,
            -1.4401353597640991,
            0.017293386161327362
        ],
        "speed": 5.121562153731642,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 75.23336791992188,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.068343162536621,
                "transform": {
                    "location": {
                        "x": -177.39881896972656,
                        "y": 4251.36181640625,
                        "z": 372.9915466308594
                    },
                    "rotation": {
                        "roll": 0.012341143563389778,
                        "pitch": 0.4166620075702667,
                        "yaw": 90.64825439453125
                    }
                },
                "velocity": {
                    "x": -0.06795914471149445,
                    "y": 8.06800365447998,
                    "z": 0.029390592128038406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.433489799499512,
                "transform": {
                    "location": {
                        "x": -174.50640869140625,
                        "y": 4341.65625,
                        "z": 373.11968994140625
                    },
                    "rotation": {
                        "roll": 0.021173616871237755,
                        "pitch": 0.6048542261123657,
                        "yaw": -89.67931365966797
                    }
                },
                "velocity": {
                    "x": 0.03781943768262863,
                    "y": -8.433404922485352,
                    "z": 0.0016927241813391447
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.638584136962891,
                "transform": {
                    "location": {
                        "x": -196.1481170654297,
                        "y": 4298.85009765625,
                        "z": 373.1510009765625
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.24438415467739105,
                        "yaw": -0.090606689453125
                    }
                },
                "velocity": {
                    "x": 5.638533115386963,
                    "y": -0.011454182676970959,
                    "z": -0.021044593304395676
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.313702583312988,
                "transform": {
                    "location": {
                        "x": -196.2648468017578,
                        "y": 4302.1025390625,
                        "z": 373.1961669921875
                    },
                    "rotation": {
                        "roll": 0.002366833621636033,
                        "pitch": -0.19390906393527985,
                        "yaw": -0.09561154991388321
                    }
                },
                "velocity": {
                    "x": 6.313650608062744,
                    "y": -0.011919215321540833,
                    "z": -0.022801250219345093
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.511683940887451,
                "transform": {
                    "location": {
                        "x": -174.4938201904297,
                        "y": 4318.16748046875,
                        "z": 373.1094970703125
                    },
                    "rotation": {
                        "roll": -0.00036620907485485077,
                        "pitch": -0.06518049538135529,
                        "yaw": -90.0445556640625
                    }
                },
                "velocity": {
                    "x": -0.004287488292902708,
                    "y": -5.511679172515869,
                    "z": -0.00574073800817132
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.4991960525512695,
                "transform": {
                    "location": {
                        "x": -177.49859619140625,
                        "y": 4274.81689453125,
                        "z": 373.03326416015625
                    },
                    "rotation": {
                        "roll": -0.0006408721674233675,
                        "pitch": 0.1310644894838333,
                        "yaw": 90.1285171508789
                    }
                },
                "velocity": {
                    "x": -0.013643337413668633,
                    "y": 5.4991607666015625,
                    "z": 0.014244956895709038
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.071476936340332,
                "transform": {
                    "location": {
                        "x": -88.52922058105469,
                        "y": 4294.7900390625,
                        "z": 372.74951171875
                    },
                    "rotation": {
                        "roll": 0.0005452774930745363,
                        "pitch": 0.23573030531406403,
                        "yaw": 179.6790008544922
                    }
                },
                "velocity": {
                    "x": -8.071282386779785,
                    "y": 0.045258600264787674,
                    "z": 0.03306933492422104
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7068971395492554,
                "transform": {
                    "location": {
                        "x": -212.29795837402344,
                        "y": 4302.12744140625,
                        "z": 373.2530822753906
                    },
                    "rotation": {
                        "roll": -0.002777099609375,
                        "pitch": -0.5973819494247437,
                        "yaw": -0.12164304405450821
                    }
                },
                "velocity": {
                    "x": 1.7065285444259644,
                    "y": 0.009717018343508244,
                    "z": 0.03411271050572395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -73.01187133789062,
                        "y": 4294.798828125,
                        "z": 372.69732666015625
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.325660705566406,
                "transform": {
                    "location": {
                        "x": -211.4451446533203,
                        "y": 4298.8857421875,
                        "z": 373.2496643066406
                    },
                    "rotation": {
                        "roll": -0.0038146970327943563,
                        "pitch": -0.22411897778511047,
                        "yaw": 0.11701938509941101
                    }
                },
                "velocity": {
                    "x": 5.325601577758789,
                    "y": 0.025046462193131447,
                    "z": -0.0011147117475047708
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.249743461608887,
                "transform": {
                    "location": {
                        "x": -116.60710906982422,
                        "y": 4298.40625,
                        "z": 372.8771057128906
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.22753408551216125,
                        "yaw": -0.3398742377758026
                    }
                },
                "velocity": {
                    "x": 13.249394416809082,
                    "y": -0.08085475116968155,
                    "z": -0.05233106017112732
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399888038635254,
                "transform": {
                    "location": {
                        "x": -103.30445098876953,
                        "y": 4301.5771484375,
                        "z": 372.8211975097656
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": -0.2290913611650467,
                        "yaw": -0.34783935546875
                    }
                },
                "velocity": {
                    "x": 13.3995361328125,
                    "y": -0.08115952461957932,
                    "z": -0.05332328379154205
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0018136464059352875,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 1.8986351278726943e-05,
                    "y": -4.416081367253355e-07,
                    "z": 0.0018135469872504473
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.069804191589355,
                "transform": {
                    "location": {
                        "x": -112.32164001464844,
                        "y": 4294.92919921875,
                        "z": 372.8511962890625
                    },
                    "rotation": {
                        "roll": -0.0004272458900231868,
                        "pitch": 0.22756139934062958,
                        "yaw": 179.65370178222656
                    }
                },
                "velocity": {
                    "x": -8.069589614868164,
                    "y": 0.04880664125084877,
                    "z": 0.03274589404463768
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.454940319061279,
                "transform": {
                    "location": {
                        "x": -130.50155639648438,
                        "y": 4295.03857421875,
                        "z": 372.9212341308594
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.19160045683383942,
                        "yaw": 179.65481567382812
                    }
                },
                "velocity": {
                    "x": -6.454773426055908,
                    "y": 0.03905923664569855,
                    "z": 0.02509729377925396
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.336599471978843e-05,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": 0.2052130252122879,
                        "yaw": 179.51243591308594
                    }
                },
                "velocity": {
                    "x": 5.980692549201194e-06,
                    "y": -4.24400781184886e-08,
                    "z": -6.30831127637066e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.6169354915618896,
        "expert_target_speed": 6.019002522592813,
        "target_point": [
            15.005833981394401,
            -2.6602048663555795
        ],
        "target_point_next": [
            19.196950294408833,
            -3.82469665983468
        ]
    },
    "545": {
        "acceleration": [
            -0.23862838745117188,
            0.3725624084472656,
            -0.0036459043622016907
        ],
        "angular_velocity": [
            0.535616934299469,
            0.17829421162605286,
            3.198474168777466
        ],
        "forward_vector": [
            -0.9622701406478882,
            -0.2720694839954376,
            0.0038038399070501328
        ],
        "right_vector": [
            0.27206888794898987,
            -0.9622775316238403,
            -0.000686220359057188
        ],
        "location": [
            -147.5304718017578,
            4293.0810546875,
            372.98858642578125
        ],
        "rotation": [
            0.039317816495895386,
            0.21794448792934418,
            -164.21243286132812
        ],
        "velocity": [
            -4.970048904418945,
            -1.4014246463775635,
            0.01749248430132866
        ],
        "speed": 5.163852936692759,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 73.99574279785156,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.28578186035156,
                        "y": 4298.9482421875,
                        "z": 373.4617004394531
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.23206615447998,
                "transform": {
                    "location": {
                        "x": -177.4169464111328,
                        "y": 4253.43603515625,
                        "z": 373.00030517578125
                    },
                    "rotation": {
                        "roll": 0.005829941015690565,
                        "pitch": 0.27695733308792114,
                        "yaw": 90.48250579833984
                    }
                },
                "velocity": {
                    "x": -0.06275025010108948,
                    "y": 8.23177433013916,
                    "z": 0.029351109638810158
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0486478805542,
                "transform": {
                    "location": {
                        "x": -174.49742126464844,
                        "y": 4339.58154296875,
                        "z": 373.1215515136719
                    },
                    "rotation": {
                        "roll": 0.014413258992135525,
                        "pitch": 0.1566845327615738,
                        "yaw": -89.77886199951172
                    }
                },
                "velocity": {
                    "x": 0.029532309621572495,
                    "y": -8.048593521118164,
                    "z": 0.001616353983990848
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.233587741851807,
                "transform": {
                    "location": {
                        "x": -194.9406280517578,
                        "y": 4298.84814453125,
                        "z": 373.14703369140625
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": -0.2927896976470947,
                        "yaw": -0.12445068359375
                    }
                },
                "velocity": {
                    "x": 4.233547210693359,
                    "y": -0.009007763117551804,
                    "z": -0.016119498759508133
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.157529830932617,
                "transform": {
                    "location": {
                        "x": -194.8546905517578,
                        "y": 4302.09814453125,
                        "z": 373.1923828125
                    },
                    "rotation": {
                        "roll": 0.0017730852123349905,
                        "pitch": -0.35397452116012573,
                        "yaw": -0.0664977878332138
                    }
                },
                "velocity": {
                    "x": 4.157460689544678,
                    "y": -0.012901711277663708,
                    "z": -0.020218366757035255
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.363777160644531,
                "transform": {
                    "location": {
                        "x": -174.4957733154297,
                        "y": 4316.80908203125,
                        "z": 373.1080627441406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.06476385146379471,
                        "yaw": -90.04400634765625
                    }
                },
                "velocity": {
                    "x": -0.004158097319304943,
                    "y": -5.363772869110107,
                    "z": -0.005493698175996542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.303345680236816,
                "transform": {
                    "location": {
                        "x": -177.50257873535156,
                        "y": 4276.16845703125,
                        "z": 373.036865234375
                    },
                    "rotation": {
                        "roll": -0.0005798337515443563,
                        "pitch": 0.12482170015573502,
                        "yaw": 90.1642074584961
                    }
                },
                "velocity": {
                    "x": -0.012565329670906067,
                    "y": 5.303309917449951,
                    "z": 0.014891175553202629
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.013346672058105,
                "transform": {
                    "location": {
                        "x": -90.53851318359375,
                        "y": 4294.8017578125,
                        "z": 372.7578430175781
                    },
                    "rotation": {
                        "roll": 0.0005548609187826514,
                        "pitch": 0.23491068184375763,
                        "yaw": 179.67706298828125
                    }
                },
                "velocity": {
                    "x": -8.013151168823242,
                    "y": 0.04504718258976936,
                    "z": 0.0332489088177681
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7584785223007202,
                "transform": {
                    "location": {
                        "x": -211.86248779296875,
                        "y": 4302.12841796875,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": -0.3045649528503418,
                        "yaw": -0.02923583984375
                    }
                },
                "velocity": {
                    "x": 1.7584497928619385,
                    "y": 0.010018518194556236,
                    "z": 0.0008691691909916699
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -75.02327728271484,
                        "y": 4294.810546875,
                        "z": 372.7053527832031
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.058876991271973,
                "transform": {
                    "location": {
                        "x": -210.10687255859375,
                        "y": 4298.890625,
                        "z": 373.2469177246094
                    },
                    "rotation": {
                        "roll": -0.003021240234375,
                        "pitch": -0.25448599457740784,
                        "yaw": 0.2409561723470688
                    }
                },
                "velocity": {
                    "x": 5.058783054351807,
                    "y": 0.026781823486089706,
                    "z": -0.01522934902459383
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.257956504821777,
                "transform": {
                    "location": {
                        "x": -113.29359436035156,
                        "y": 4298.38671875,
                        "z": 372.8639831542969
                    },
                    "rotation": {
                        "roll": 0.0001840380282374099,
                        "pitch": -0.2277253270149231,
                        "yaw": -0.3424682319164276
                    }
                },
                "velocity": {
                    "x": 13.257613182067871,
                    "y": -0.07923013716936111,
                    "z": -0.05319013074040413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399947166442871,
                "transform": {
                    "location": {
                        "x": -99.95484161376953,
                        "y": 4301.5576171875,
                        "z": 372.8077392578125
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.23132483661174774,
                        "yaw": -0.3473815619945526
                    }
                },
                "velocity": {
                    "x": 13.399605751037598,
                    "y": -0.07960106432437897,
                    "z": -0.0531027726829052
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015225328970700502,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 5.5600330597371794e-06,
                    "y": -9.870389021671144e-07,
                    "z": 0.0015225224196910858
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.659797668457031,
                "transform": {
                    "location": {
                        "x": -114.31414031982422,
                        "y": 4294.9404296875,
                        "z": 372.8591613769531
                    },
                    "rotation": {
                        "roll": 0.0006036267150193453,
                        "pitch": 0.21992525458335876,
                        "yaw": 179.65353393554688
                    }
                },
                "velocity": {
                    "x": -7.659592628479004,
                    "y": 0.04630480334162712,
                    "z": 0.03149198368191719
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.65674090385437,
                "transform": {
                    "location": {
                        "x": -131.630615234375,
                        "y": 4295.0478515625,
                        "z": 372.92608642578125
                    },
                    "rotation": {
                        "roll": 0.0013735182583332062,
                        "pitch": 0.10919422656297684,
                        "yaw": 179.97055053710938
                    }
                },
                "velocity": {
                    "x": -2.6566686630249023,
                    "y": 0.016818935051560402,
                    "z": 0.010085144080221653
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003397976979613304,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0025634760968387127,
                        "pitch": 0.20588921010494232,
                        "yaw": 179.51243591308594
                    }
                },
                "velocity": {
                    "x": 6.427615517168306e-06,
                    "y": 1.4863843716739211e-05,
                    "z": -0.0003394116065464914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3263510763645172,
        "expert_target_speed": 6.028700301360308,
        "target_point": [
            13.693734758933687,
            -2.821864132246348
        ],
        "target_point_next": [
            17.87241447465142,
            -4.0302237309358295
        ]
    },
    "550": {
        "acceleration": [
            -3.913097381591797,
            0.3225898742675781,
            0.00495128333568573
        ],
        "angular_velocity": [
            0.6201552152633667,
            1.088303565979004,
            -10.064597129821777
        ],
        "forward_vector": [
            -0.9672655463218689,
            -0.25361016392707825,
            0.008904696442186832
        ],
        "right_vector": [
            0.25357550382614136,
            -0.967303454875946,
            -0.004843987058848143
        ],
        "location": [
            -148.898193359375,
            4292.72509765625,
            372.99261474609375
        ],
        "rotation": [
            0.2775520980358124,
            0.510208249092102,
            -165.30816650390625
        ],
        "velocity": [
            -6.089653015136719,
            -1.4367765188217163,
            0.021905478090047836
        ],
        "speed": 6.256852292471126,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 72.625732421875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -224.0800018310547,
                        "y": 4298.94091796875,
                        "z": 373.3287353515625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.78717041015625,
                "transform": {
                    "location": {
                        "x": -177.43218994140625,
                        "y": 4255.4228515625,
                        "z": 373.0081481933594
                    },
                    "rotation": {
                        "roll": 0.0070399013347923756,
                        "pitch": 0.18660758435726166,
                        "yaw": 90.41747283935547
                    }
                },
                "velocity": {
                    "x": -0.04525859281420708,
                    "y": 7.786987781524658,
                    "z": 0.028264550492167473
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.846222877502441,
                "transform": {
                    "location": {
                        "x": -174.4914093017578,
                        "y": 4337.62060546875,
                        "z": 373.1222839355469
                    },
                    "rotation": {
                        "roll": 0.019223136827349663,
                        "pitch": -0.03424656763672829,
                        "yaw": -89.82506561279297
                    }
                },
                "velocity": {
                    "x": 0.015457486733794212,
                    "y": -7.846207618713379,
                    "z": 0.0016606139251962304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.00195837020874,
                "transform": {
                    "location": {
                        "x": -193.9325714111328,
                        "y": 4298.845703125,
                        "z": 373.1430358886719
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.23617427051067352,
                        "yaw": -0.1057433933019638
                    }
                },
                "velocity": {
                    "x": 4.001927852630615,
                    "y": -0.008105701766908169,
                    "z": -0.013483943417668343
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.9078421592712402,
                "transform": {
                    "location": {
                        "x": -193.9074249267578,
                        "y": 4302.09619140625,
                        "z": 373.18841552734375
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -0.2987388074398041,
                        "yaw": -0.0751037523150444
                    }
                },
                "velocity": {
                    "x": 3.9078071117401123,
                    "y": -0.00931945163756609,
                    "z": -0.013663196004927158
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.791967868804932,
                "transform": {
                    "location": {
                        "x": -174.4961700439453,
                        "y": 4315.50732421875,
                        "z": 373.1066589355469
                    },
                    "rotation": {
                        "roll": 0.0007457652245648205,
                        "pitch": -0.0763273611664772,
                        "yaw": -90.03887939453125
                    }
                },
                "velocity": {
                    "x": -0.0029556246008723974,
                    "y": -4.791963577270508,
                    "z": -0.005461845081299543
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.102356910705566,
                "transform": {
                    "location": {
                        "x": -177.5056915283203,
                        "y": 4277.46630859375,
                        "z": 373.0403747558594
                    },
                    "rotation": {
                        "roll": -0.00015257902850862592,
                        "pitch": 0.12124267965555191,
                        "yaw": 90.11881256103516
                    }
                },
                "velocity": {
                    "x": -0.011686618439853191,
                    "y": 5.102324485778809,
                    "z": 0.013875703327357769
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075961112976074,
                "transform": {
                    "location": {
                        "x": -92.5503921508789,
                        "y": 4294.8134765625,
                        "z": 372.7660217285156
                    },
                    "rotation": {
                        "roll": 0.0007713110535405576,
                        "pitch": 0.23462381958961487,
                        "yaw": 179.67523193359375
                    }
                },
                "velocity": {
                    "x": -8.075754165649414,
                    "y": 0.04727274179458618,
                    "z": 0.03333974629640579
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0456318855285645,
                "transform": {
                    "location": {
                        "x": -211.40452575683594,
                        "y": 4302.1298828125,
                        "z": 373.2517395019531
                    },
                    "rotation": {
                        "roll": -0.0015869137132540345,
                        "pitch": -0.21233691275119781,
                        "yaw": 0.04964123293757439
                    }
                },
                "velocity": {
                    "x": 2.045588970184326,
                    "y": 0.011708145029842854,
                    "z": -0.006208238657563925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -77.03327941894531,
                        "y": 4294.82275390625,
                        "z": 372.7135009765625
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.192683696746826,
                "transform": {
                    "location": {
                        "x": -208.84593200683594,
                        "y": 4298.89599609375,
                        "z": 373.24224853515625
                    },
                    "rotation": {
                        "roll": 0.003197373589500785,
                        "pitch": -0.21197490394115448,
                        "yaw": 0.2782759964466095
                    }
                },
                "velocity": {
                    "x": 5.192648887634277,
                    "y": 0.0063620260916650295,
                    "z": -0.017891062423586845
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.24948787689209,
                "transform": {
                    "location": {
                        "x": -109.98023223876953,
                        "y": 4298.3671875,
                        "z": 372.8507995605469
                    },
                    "rotation": {
                        "roll": -0.0006713866605423391,
                        "pitch": -0.2290913611650467,
                        "yaw": -0.34973135590553284
                    }
                },
                "velocity": {
                    "x": 13.249138832092285,
                    "y": -0.08080438524484634,
                    "z": -0.05228832736611366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399972915649414,
                "transform": {
                    "location": {
                        "x": -96.60523223876953,
                        "y": 4301.5380859375,
                        "z": 372.7941589355469
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": -0.23199419677257538,
                        "yaw": -0.336029052734375
                    }
                },
                "velocity": {
                    "x": 13.399638175964355,
                    "y": -0.07833588123321533,
                    "z": -0.05317030847072601
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009796485537663102,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 1.0648555871739518e-05,
                    "y": -2.7312751171848504e-07,
                    "z": 0.0009795905789360404
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.317017555236816,
                "transform": {
                    "location": {
                        "x": -116.07437133789062,
                        "y": 4294.95166015625,
                        "z": 372.8663330078125
                    },
                    "rotation": {
                        "roll": 0.0007839080062694848,
                        "pitch": 0.19813011586666107,
                        "yaw": 179.653076171875
                    }
                },
                "velocity": {
                    "x": -6.316851615905762,
                    "y": 0.03811368718743324,
                    "z": 0.02541274018585682
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0398123264312744,
                "transform": {
                    "location": {
                        "x": -132.33836364746094,
                        "y": 4295.05224609375,
                        "z": 372.9280700683594
                    },
                    "rotation": {
                        "roll": 0.0012305027339607477,
                        "pitch": 0.20342351496219635,
                        "yaw": 179.95799255371094
                    }
                },
                "velocity": {
                    "x": -3.0397517681121826,
                    "y": 0.015556052327156067,
                    "z": 0.011261672712862492
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000161154821398668,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002777098910883069,
                        "pitch": 0.20588238537311554,
                        "yaw": 179.51243591308594
                    }
                },
                "velocity": {
                    "x": 9.356029295304324e-06,
                    "y": -2.2997848645900376e-05,
                    "z": -0.00015923078171908855
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.12994898855686188,
        "expert_target_speed": 6.886827977393213,
        "target_point": [
            12.33191260585519,
            -2.556922012013449
        ],
        "target_point_next": [
            16.53293551154032,
            -3.6851523219257105
        ]
    },
    "555": {
        "acceleration": [
            -2.837047576904297,
            1.1438512802124023,
            0.028156861662864685
        ],
        "angular_velocity": [
            0.47049039602279663,
            -0.053476203233003616,
            -10.937084197998047
        ],
        "forward_vector": [
            -0.9787234663963318,
            -0.20496930181980133,
            0.009380917996168137
        ],
        "right_vector": [
            0.2048865258693695,
            -0.9787436723709106,
            -0.009076586924493313
        ],
        "location": [
            -150.521484375,
            4292.392578125,
            372.99835205078125
        ],
        "rotation": [
            0.5200801491737366,
            0.5374948978424072,
            -168.17176818847656
        ],
        "velocity": [
            -6.8524346351623535,
            -1.1652579307556152,
            0.024585790932178497
        ],
        "speed": 6.950804735738264,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 71.00181579589844,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2603759765625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -225.64468383789062,
                        "y": 4302.20068359375,
                        "z": 373.5246887207031
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -222.89678955078125,
                        "y": 4298.93359375,
                        "z": 373.3093566894531
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.097094535827637,
                "transform": {
                    "location": {
                        "x": -177.443115234375,
                        "y": 4257.41064453125,
                        "z": 373.01483154296875
                    },
                    "rotation": {
                        "roll": 0.004488105420023203,
                        "pitch": 0.21245984733104706,
                        "yaw": 90.3069839477539
                    }
                },
                "velocity": {
                    "x": -0.037329256534576416,
                    "y": 8.09695816040039,
                    "z": 0.028633879497647285
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.94183874130249,
                "transform": {
                    "location": {
                        "x": -174.4882049560547,
                        "y": 4335.62744140625,
                        "z": 373.12200927734375
                    },
                    "rotation": {
                        "roll": 0.013659932650625706,
                        "pitch": 0.01767652854323387,
                        "yaw": -89.92791748046875
                    }
                },
                "velocity": {
                    "x": 0.008210346102714539,
                    "y": -7.941833972930908,
                    "z": -0.0013942623045295477
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.077826976776123,
                "transform": {
                    "location": {
                        "x": -192.80859375,
                        "y": 4298.84130859375,
                        "z": 373.1385498046875
                    },
                    "rotation": {
                        "roll": 0.0005229838425293565,
                        "pitch": -0.15789347887039185,
                        "yaw": -0.140625
                    }
                },
                "velocity": {
                    "x": 5.07774543762207,
                    "y": -0.02258170023560524,
                    "z": -0.01787365786731243
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.045851707458496,
                "transform": {
                    "location": {
                        "x": -192.78125,
                        "y": 4302.09423828125,
                        "z": 373.18316650390625
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -0.12749913334846497,
                        "yaw": -0.0758972093462944
                    }
                },
                "velocity": {
                    "x": 5.045835971832275,
                    "y": -0.006823687814176083,
                    "z": -0.01069268211722374
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00048756113392300904,
                "transform": {
                    "location": {
                        "x": -174.49624633789062,
                        "y": 4315.10888671875,
                        "z": 373.1070861816406
                    },
                    "rotation": {
                        "roll": -0.0002441408287268132,
                        "pitch": -0.20779483020305634,
                        "yaw": -90.03453826904297
                    }
                },
                "velocity": {
                    "x": -3.796644159592688e-05,
                    "y": 0.00010649623436620459,
                    "z": 0.00047427095705643296
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.976778507232666,
                "transform": {
                    "location": {
                        "x": -177.50881958007812,
                        "y": 4278.72998046875,
                        "z": 373.0437927246094
                    },
                    "rotation": {
                        "roll": -0.0012512223329395056,
                        "pitch": 0.14019645750522614,
                        "yaw": 90.09182739257812
                    }
                },
                "velocity": {
                    "x": -0.012964355759322643,
                    "y": 4.976742744445801,
                    "z": 0.013767528347671032
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01599407196045,
                "transform": {
                    "location": {
                        "x": -94.56156158447266,
                        "y": 4294.82470703125,
                        "z": 372.7741394042969
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": 0.23269769549369812,
                        "yaw": 179.66897583007812
                    }
                },
                "velocity": {
                    "x": -8.01579475402832,
                    "y": 0.04622370004653931,
                    "z": 0.03241252899169922
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2603759765625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.211627960205078,
                "transform": {
                    "location": {
                        "x": -210.75328063964844,
                        "y": 4302.1328125,
                        "z": 373.24859619140625
                    },
                    "rotation": {
                        "roll": -0.00494384765625,
                        "pitch": -0.12350347638130188,
                        "yaw": 0.1340429186820984
                    }
                },
                "velocity": {
                    "x": 3.2115538120269775,
                    "y": 0.018553581088781357,
                    "z": -0.011472529731690884
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2593994140625
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.04601287841797,
                        "y": 4294.83447265625,
                        "z": 372.7218322753906
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.363785743713379,
                "transform": {
                    "location": {
                        "x": -207.52975463867188,
                        "y": 4298.89794921875,
                        "z": 373.2371826171875
                    },
                    "rotation": {
                        "roll": 0.00314971711486578,
                        "pitch": -0.1833495944738388,
                        "yaw": 0.1288163661956787
                    }
                },
                "velocity": {
                    "x": 5.363747596740723,
                    "y": -0.0002635217097122222,
                    "z": -0.0202319473028183
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.258153915405273,
                "transform": {
                    "location": {
                        "x": -106.66671752929688,
                        "y": 4298.34765625,
                        "z": 372.8375549316406
                    },
                    "rotation": {
                        "roll": -0.00012207034160383046,
                        "pitch": -0.23028664290905,
                        "yaw": -0.3503417670726776
                    }
                },
                "velocity": {
                    "x": 13.257803916931152,
                    "y": -0.08102037012577057,
                    "z": -0.05212651193141937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.399953842163086,
                "transform": {
                    "location": {
                        "x": -93.25562286376953,
                        "y": 4301.5185546875,
                        "z": 372.7806091308594
                    },
                    "rotation": {
                        "roll": -0.0003662109957076609,
                        "pitch": -0.23190540075302124,
                        "yaw": -0.3385924994945526
                    }
                },
                "velocity": {
                    "x": 13.399617195129395,
                    "y": -0.07854244858026505,
                    "z": -0.053485434502363205
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000881863699760288,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 1.06985116872238e-05,
                    "y": 2.8986419238208327e-06,
                    "z": 0.0008817940833978355
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6204349994659424,
                "transform": {
                    "location": {
                        "x": -117.25999450683594,
                        "y": 4294.95849609375,
                        "z": 372.87109375
                    },
                    "rotation": {
                        "roll": 0.00010205581202171743,
                        "pitch": 0.1471973955631256,
                        "yaw": 179.87835693359375
                    }
                },
                "velocity": {
                    "x": -2.6204183101654053,
                    "y": 8.395613258471712e-05,
                    "z": 0.00932872761040926
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6945126056671143,
                "transform": {
                    "location": {
                        "x": -133.17874145507812,
                        "y": 4295.0546875,
                        "z": 372.9310607910156
                    },
                    "rotation": {
                        "roll": 0.000483253737911582,
                        "pitch": 0.2426629513502121,
                        "yaw": 179.85858154296875
                    }
                },
                "velocity": {
                    "x": -3.6944332122802734,
                    "y": 0.01966250315308571,
                    "z": 0.01412541326135397
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005299869226291776,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2057935893535614,
                        "yaw": 179.51243591308594
                    }
                },
                "velocity": {
                    "x": 3.1949577987688826e-06,
                    "y": 2.7083584427600726e-05,
                    "z": -0.0005292848218232393
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12023189663887024,
        "expert_target_speed": 7.360220774664093,
        "target_point": [
            10.787271299145425,
            -1.9303662486804392
        ],
        "target_point_next": [
            15.039412971297962,
            -2.8473113322267216
        ]
    },
    "560": {
        "acceleration": [
            -2.9139328002929688,
            1.2742972373962402,
            0.0052965059876441956
        ],
        "angular_velocity": [
            0.3068481683731079,
            0.055123139172792435,
            -15.728450775146484
        ],
        "forward_vector": [
            -0.989055335521698,
            -0.1472637951374054,
            0.009107702411711216
        ],
        "right_vector": [
            0.14717072248458862,
            -0.9890588521957397,
            -0.010164545848965645
        ],
        "location": [
            -152.3280487060547,
            4292.12353515625,
            373.0050354003906
        ],
        "rotation": [
            0.5824198126792908,
            0.5218400955200195,
            -171.53125
        ],
        "velocity": [
            -7.58730411529541,
            -0.891698956489563,
            0.026026466861367226
        ],
        "speed": 7.639522941060079,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 69.19587707519531,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2577209472656
            ],
            "velocity": [
                -0.0001218186880578287,
                -3.2924253901001066e-05,
                -0.03405722975730896
            ],
            "speed_kmh": 0.12260686873147182,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.5091857910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -224.41163635253906,
                        "y": 4302.193359375,
                        "z": 373.31939697265625
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.2969512939453,
                        "y": 4298.9248046875,
                        "z": 373.283203125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.585261344909668,
                "transform": {
                    "location": {
                        "x": -177.4530487060547,
                        "y": 4259.3818359375,
                        "z": 373.0219421386719
                    },
                    "rotation": {
                        "roll": 0.0015177552122622728,
                        "pitch": 0.16030453145503998,
                        "yaw": 90.26688385009766
                    }
                },
                "velocity": {
                    "x": -0.034204643219709396,
                    "y": 7.585142612457275,
                    "z": 0.02508554421365261
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.375576496124268,
                "transform": {
                    "location": {
                        "x": -174.48617553710938,
                        "y": 4333.716796875,
                        "z": 373.12225341796875
                    },
                    "rotation": {
                        "roll": 0.00645153783261776,
                        "pitch": -0.1571967899799347,
                        "yaw": -89.92235565185547
                    }
                },
                "velocity": {
                    "x": 0.0079214908182621,
                    "y": -7.375572204589844,
                    "z": -0.002033185912296176
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5648841857910156,
                "transform": {
                    "location": {
                        "x": -191.64984130859375,
                        "y": 4298.83642578125,
                        "z": 373.1356506347656
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.31494683027267456,
                        "yaw": -0.180511474609375
                    }
                },
                "velocity": {
                    "x": 2.56484317779541,
                    "y": -0.01146953646093607,
                    "z": -0.008873176760971546
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.31062814593315125,
                "transform": {
                    "location": {
                        "x": -191.97882080078125,
                        "y": 4302.09326171875,
                        "z": 373.1839294433594
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.550383448600769,
                        "yaw": -0.0906677171587944
                    }
                },
                "velocity": {
                    "x": 0.31062260270118713,
                    "y": -2.012625009228941e-05,
                    "z": -0.0018577765440568328
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0018560177413746715,
                "transform": {
                    "location": {
                        "x": -174.49624633789062,
                        "y": 4315.10791015625,
                        "z": 373.1061096191406
                    },
                    "rotation": {
                        "roll": -0.00033569024526514113,
                        "pitch": -0.09417464584112167,
                        "yaw": -90.0345458984375
                    }
                },
                "velocity": {
                    "x": -1.0430647307657637e-05,
                    "y": 9.564587526256219e-05,
                    "z": 0.0018535222625359893
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015613662544637918,
                "transform": {
                    "location": {
                        "x": -177.50343322753906,
                        "y": 4279.27685546875,
                        "z": 373.0440979003906
                    },
                    "rotation": {
                        "roll": 0.011234847828745842,
                        "pitch": -0.4592618942260742,
                        "yaw": 88.72530364990234
                    }
                },
                "velocity": {
                    "x": 0.0002347425470361486,
                    "y": -0.0010834713466465473,
                    "z": 0.0010994774056598544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07292652130127,
                "transform": {
                    "location": {
                        "x": -96.5726547241211,
                        "y": 4294.8369140625,
                        "z": 372.78228759765625
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": 0.23286162316799164,
                        "yaw": 179.66258239746094
                    }
                },
                "velocity": {
                    "x": -8.072718620300293,
                    "y": 0.04754207655787468,
                    "z": 0.03330892324447632
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.03405746445059776,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2577209472656
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": 0.22155766189098358,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0001218186880578287,
                    "y": -3.2924253901001066e-05,
                    "z": -0.03405722975730896
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.589908123016357,
                "transform": {
                    "location": {
                        "x": -209.76577758789062,
                        "y": 4302.13818359375,
                        "z": 373.2444763183594
                    },
                    "rotation": {
                        "roll": -0.0030517573468387127,
                        "pitch": -0.07955803722143173,
                        "yaw": 0.22213083505630493
                    }
                },
                "velocity": {
                    "x": 4.589789867401123,
                    "y": 0.027843406423926353,
                    "z": -0.017590302973985672
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.09582354873418808,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2717590332031
                    },
                    "rotation": {
                        "roll": 0.000640164886135608,
                        "pitch": 0.2214825302362442,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0003879255673382431,
                    "y": -0.00012225650425534695,
                    "z": 0.09582268446683884
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -81.05538940429688,
                        "y": 4294.845703125,
                        "z": 372.7300720214844
                    },
                    "rotation": {
                        "roll": -5.211064565968648e-11,
                        "pitch": 0.23608547449111938,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.388235092163086,
                "transform": {
                    "location": {
                        "x": -205.99273681640625,
                        "y": 4298.89892578125,
                        "z": 373.2301025390625
                    },
                    "rotation": {
                        "roll": 0.0018771156901493669,
                        "pitch": -0.03619316965341568,
                        "yaw": -0.005859375
                    }
                },
                "velocity": {
                    "x": 7.388185024261475,
                    "y": -0.0039011703338474035,
                    "z": -0.026907486841082573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.249463081359863,
                "transform": {
                    "location": {
                        "x": -103.35327911376953,
                        "y": 4298.328125,
                        "z": 372.8243408203125
                    },
                    "rotation": {
                        "roll": -9.15526834432967e-05,
                        "pitch": -0.22982218861579895,
                        "yaw": -0.3503417670726776
                    }
                },
                "velocity": {
                    "x": 13.24911117553711,
                    "y": -0.08102574944496155,
                    "z": -0.05271534621715546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.39998722076416,
                "transform": {
                    "location": {
                        "x": -89.90601348876953,
                        "y": 4301.4990234375,
                        "z": 372.7669982910156
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": -0.23413203656673431,
                        "yaw": -0.3328246772289276
                    }
                },
                "velocity": {
                    "x": 13.399651527404785,
                    "y": -0.07853633165359497,
                    "z": -0.053339023143053055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012729669688269496,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 9.097717338590883e-06,
                    "y": 1.8769787857308984e-05,
                    "z": 0.0012727960711345077
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.810819625854492,
                "transform": {
                    "location": {
                        "x": -117.90155792236328,
                        "y": 4294.9609375,
                        "z": 372.8733215332031
                    },
                    "rotation": {
                        "roll": 0.002073317766189575,
                        "pitch": 0.20665419101715088,
                        "yaw": 179.88134765625
                    }
                },
                "velocity": {
                    "x": -2.8107588291168213,
                    "y": 0.015158376656472683,
                    "z": 0.010594244115054607
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.567274570465088,
                "transform": {
                    "location": {
                        "x": -134.2117919921875,
                        "y": 4295.06005859375,
                        "z": 372.93487548828125
                    },
                    "rotation": {
                        "roll": 0.00022803469619248062,
                        "pitch": 0.2502649426460266,
                        "yaw": 179.775390625
                    }
                },
                "velocity": {
                    "x": -4.567171096801758,
                    "y": 0.025222547352313995,
                    "z": 0.017555084079504013
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00034830631921067834,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2057935893535614,
                        "yaw": 179.51243591308594
                    }
                },
                "velocity": {
                    "x": 2.955496256618062e-06,
                    "y": -1.0483991900400724e-05,
                    "z": -0.0003481359453871846
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.9079642295837402,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2184697985649109,
        "expert_target_speed": 7.743113670739215,
        "target_point": [
            9.055365476410238,
            -1.2949692483234188
        ],
        "target_point_next": [
            13.353933152361831,
            -1.9611621795077605
        ]
    },
    "565": {
        "acceleration": [
            -0.1304912567138672,
            1.8476569652557373,
            0.01504305750131607
        ],
        "angular_velocity": [
            0.2293575257062912,
            -0.7851192355155945,
            -11.096430778503418
        ],
        "forward_vector": [
            -0.9959980249404907,
            -0.08904965966939926,
            0.007616207469254732
        ],
        "right_vector": [
            0.0889609158039093,
            -0.9959710836410522,
            -0.011290212161839008
        ],
        "location": [
            -154.28976440429688,
            4291.939453125,
            373.01220703125
        ],
        "rotation": [
            0.6469140648841858,
            0.4363807737827301,
            -174.8909149169922
        ],
        "velocity": [
            -7.965096950531006,
            -0.4834062457084656,
            0.029257582500576973
        ],
        "speed": 7.979752566950198,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 67.2352294921875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.25189208984375
            ],
            "velocity": [
                -3.420967550482601e-05,
                -3.2352488688047742e-06,
                -0.01053410954773426
            ],
            "speed_kmh": 0.03792299613337398,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -177.31085205078125,
                        "y": 4244.7548828125,
                        "z": 373.12841796875
                    },
                    "rotation": {
                        "roll": 1.3340319071630802e-08,
                        "pitch": 0.2288796305656433,
                        "yaw": 90.57296752929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4209707975387573,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.111083984375
                    },
                    "rotation": {
                        "roll": 8.254257295448042e-07,
                        "pitch": 0.03065388649702072,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -1.0086774636874907e-05,
                    "y": -0.0007632249617017806,
                    "z": -1.4209706783294678
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -223.57835388183594,
                        "y": 4302.1884765625,
                        "z": 373.31182861328125
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.893049240112305,
                "transform": {
                    "location": {
                        "x": -219.70858764648438,
                        "y": 4298.9248046875,
                        "z": 373.2560119628906
                    },
                    "rotation": {
                        "roll": -0.0346069298684597,
                        "pitch": -0.4997512400150299,
                        "yaw": -0.006988523993641138
                    }
                },
                "velocity": {
                    "x": 5.892636775970459,
                    "y": 0.029518119990825653,
                    "z": -0.0631854459643364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.249105930328369,
                "transform": {
                    "location": {
                        "x": -177.46023559570312,
                        "y": 4261.2216796875,
                        "z": 373.0281677246094
                    },
                    "rotation": {
                        "roll": 0.002218511886894703,
                        "pitch": 0.1536792516708374,
                        "yaw": 90.22655487060547
                    }
                },
                "velocity": {
                    "x": -0.024088433012366295,
                    "y": 7.249022006988525,
                    "z": 0.025181474164128304
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.201781272888184,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4331.90576171875,
                        "z": 373.1216735839844
                    },
                    "rotation": {
                        "roll": 0.007873889058828354,
                        "pitch": -0.1337282657623291,
                        "yaw": -89.99368286132812
                    }
                },
                "velocity": {
                    "x": -0.00045796026824973524,
                    "y": -7.201780796051025,
                    "z": -0.002272806130349636
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007645461009815335,
                "transform": {
                    "location": {
                        "x": -191.52867126464844,
                        "y": 4298.83642578125,
                        "z": 373.13531494140625
                    },
                    "rotation": {
                        "roll": -0.0010070803109556437,
                        "pitch": -0.36355727910995483,
                        "yaw": -0.2211303859949112
                    }
                },
                "velocity": {
                    "x": -0.0005069050821475685,
                    "y": 9.734948207551497e-07,
                    "z": -0.0005723434733226895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012899249559268355,
                "transform": {
                    "location": {
                        "x": -191.97593688964844,
                        "y": 4302.09326171875,
                        "z": 373.1822509765625
                    },
                    "rotation": {
                        "roll": 0.0003925607306882739,
                        "pitch": -0.3608388602733612,
                        "yaw": -0.0909423828125
                    }
                },
                "velocity": {
                    "x": -0.0012403331929817796,
                    "y": -0.0001958568172995001,
                    "z": 0.0002951611822936684
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.49624633789062,
                        "y": 4315.10791015625,
                        "z": 373.10601806640625
                    },
                    "rotation": {
                        "roll": -0.0006103520863689482,
                        "pitch": -0.08334196358919144,
                        "yaw": -90.03453826904297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002845936920493841,
                "transform": {
                    "location": {
                        "x": -177.50343322753906,
                        "y": 4279.27978515625,
                        "z": 373.0447692871094
                    },
                    "rotation": {
                        "roll": 0.0013238679384812713,
                        "pitch": -0.029417622834444046,
                        "yaw": 88.72537231445312
                    }
                },
                "velocity": {
                    "x": 0.000328781025018543,
                    "y": -0.0023117184173315763,
                    "z": 0.001627027173526585
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01871395111084,
                "transform": {
                    "location": {
                        "x": -98.583984375,
                        "y": 4294.84814453125,
                        "z": 372.7904357910156
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": 0.233080193400383,
                        "yaw": 179.6564483642578
                    }
                },
                "velocity": {
                    "x": -8.018494606018066,
                    "y": 0.0495084747672081,
                    "z": 0.03262929990887642
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.010534165427088737,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.25189208984375
                    },
                    "rotation": {
                        "roll": -0.00018310554150957614,
                        "pitch": 0.22204260528087616,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -3.420967550482601e-05,
                    "y": -3.2352488688047742e-06,
                    "z": -0.01053410954773426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.378073692321777,
                "transform": {
                    "location": {
                        "x": -208.4803009033203,
                        "y": 4302.1435546875,
                        "z": 373.24029541015625
                    },
                    "rotation": {
                        "roll": 0.005413110833615065,
                        "pitch": -0.11578536033630371,
                        "yaw": 0.274056613445282
                    }
                },
                "velocity": {
                    "x": 5.378035545349121,
                    "y": 0.0036192049738019705,
                    "z": -0.019894909113645554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02535312809050083,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.28564453125
                    },
                    "rotation": {
                        "roll": 0.00048718773177824914,
                        "pitch": 0.2216874361038208,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00011015079508069903,
                    "y": 3.0244393201428466e-05,
                    "z": 0.025352871045470238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.06843566894531,
                        "y": 4294.85791015625,
                        "z": 372.73834228515625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23500630259513855,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.046060085296631,
                "transform": {
                    "location": {
                        "x": -204.14195251464844,
                        "y": 4298.89794921875,
                        "z": 373.22454833984375
                    },
                    "rotation": {
                        "roll": 8.75239638844505e-05,
                        "pitch": -0.18450388312339783,
                        "yaw": -0.02548217587172985
                    }
                },
                "velocity": {
                    "x": 7.046011924743652,
                    "y": -0.0031457245349884033,
                    "z": -0.025832809507846832
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.258151054382324,
                "transform": {
                    "location": {
                        "x": -100.03976440429688,
                        "y": 4298.30859375,
                        "z": 372.8110046386719
                    },
                    "rotation": {
                        "roll": 0.00025124053354375064,
                        "pitch": -0.23202835023403168,
                        "yaw": -0.3398437201976776
                    }
                },
                "velocity": {
                    "x": 13.257810592651367,
                    "y": -0.07878587394952774,
                    "z": -0.05292925611138344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 13.400005340576172,
                "transform": {
                    "location": {
                        "x": -86.55640411376953,
                        "y": 4301.4794921875,
                        "z": 372.7533264160156
                    },
                    "rotation": {
                        "roll": 0.0005358223570510745,
                        "pitch": -0.23446671664714813,
                        "yaw": -0.343902587890625
                    }
                },
                "velocity": {
                    "x": 13.399656295776367,
                    "y": -0.0795799270272255,
                    "z": -0.05510339140892029
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009826200548559427,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": -4.443526222530636e-07,
                    "y": -2.2372626062860945e-06,
                    "z": 0.0009826173773035407
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.510223627090454,
                "transform": {
                    "location": {
                        "x": -118.69296264648438,
                        "y": 4294.96484375,
                        "z": 372.8761291503906
                    },
                    "rotation": {
                        "roll": 0.0009617775212973356,
                        "pitch": 0.23999235033988953,
                        "yaw": 179.814208984375
                    }
                },
                "velocity": {
                    "x": -3.510134696960449,
                    "y": 0.02102959342300892,
                    "z": 0.013456000946462154
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.2268266677856445,
                "transform": {
                    "location": {
                        "x": -135.46983337402344,
                        "y": 4295.06689453125,
                        "z": 372.9400329589844
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": 0.24790853261947632,
                        "yaw": 179.70584106445312
                    }
                },
                "velocity": {
                    "x": -5.22669792175293,
                    "y": 0.03001297637820244,
                    "z": 0.0211302749812603
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.68224341905443e-05,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2057935893535614,
                        "yaw": 179.51243591308594
                    }
                },
                "velocity": {
                    "x": 5.892663921258645e-06,
                    "y": -9.967629921447951e-07,
                    "z": -1.5725052435300313e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.27795419096946716,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.24601206183433533,
        "expert_target_speed": 7.7669441595079585,
        "target_point": [
            11.475598641498934,
            -1.1838590495119607
        ],
        "target_point_next": [
            31.883245797282843,
            -3.130033860109071
        ]
    },
    "570": {
        "acceleration": [
            1.1013507843017578,
            1.6620869636535645,
            0.004373006522655487
        ],
        "angular_velocity": [
            -0.06159181520342827,
            -0.6290178894996643,
            -15.344254493713379
        ],
        "forward_vector": [
            -0.9995318055152893,
            -0.03030777908861637,
            0.004204260651022196
        ],
        "right_vector": [
            0.0302585419267416,
            -0.9994779825210571,
            -0.011318229138851166
        ],
        "location": [
            -156.25961303710938,
            4291.86572265625,
            373.02001953125
        ],
        "rotation": [
            0.6485062837600708,
            0.2408871054649353,
            -178.26321411132812
        ],
        "velocity": [
            -7.783641338348389,
            -0.041240766644477844,
            0.02885213866829872
        ],
        "speed": 7.783750592412331,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 65.26600646972656,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.25115966796875
            ],
            "velocity": [
                5.153193797013955e-06,
                -6.072699397918768e-05,
                -0.001094431267119944
            ],
            "speed_kmh": 0.003946056742703222,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12653745710849762,
                "transform": {
                    "location": {
                        "x": -177.31085205078125,
                        "y": 4244.75537109375,
                        "z": 372.8635559082031
                    },
                    "rotation": {
                        "roll": -0.00039672772982157767,
                        "pitch": 0.22785510122776031,
                        "yaw": 90.57296752929688
                    }
                },
                "velocity": {
                    "x": 4.239184272591956e-05,
                    "y": -0.0005134124075993896,
                    "z": 0.12653641402721405
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2526520788669586,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.0755920410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.030141623690724373,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -3.0607898224843666e-05,
                    "y": 0.00013352665700949728,
                    "z": 0.25265204906463623
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.14377160370349884,
                "transform": {
                    "location": {
                        "x": -223.16171264648438,
                        "y": 4302.18603515625,
                        "z": 373.28375244140625
                    },
                    "rotation": {
                        "roll": 6.694612238788977e-05,
                        "pitch": -0.22280758619308472,
                        "yaw": -0.3387451469898224
                    }
                },
                "velocity": {
                    "x": -0.0005241452599875629,
                    "y": -0.00013945750833954662,
                    "z": -0.14377059042453766
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.974914073944092,
                "transform": {
                    "location": {
                        "x": -218.2098388671875,
                        "y": 4298.931640625,
                        "z": 373.2455749511719
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": -0.30383411049842834,
                        "yaw": 0.1900133639574051
                    }
                },
                "velocity": {
                    "x": 5.974806785583496,
                    "y": 0.018941804766654968,
                    "z": -0.03043992444872856
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.170175552368164,
                "transform": {
                    "location": {
                        "x": -177.46632385253906,
                        "y": 4263.02734375,
                        "z": 373.0338134765625
                    },
                    "rotation": {
                        "roll": 0.001633809763006866,
                        "pitch": 0.171280637383461,
                        "yaw": 90.19571685791016
                    }
                },
                "velocity": {
                    "x": -0.022498061880469322,
                    "y": 7.170107841491699,
                    "z": 0.02144213579595089
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.03954553604126,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4330.1181640625,
                        "z": 373.120849609375
                    },
                    "rotation": {
                        "roll": 0.00286410516127944,
                        "pitch": -0.10388033837080002,
                        "yaw": -89.97905731201172
                    }
                },
                "velocity": {
                    "x": 0.0004597175866365433,
                    "y": -7.039545059204102,
                    "z": -0.0023778246250003576
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012160225305706263,
                "transform": {
                    "location": {
                        "x": -191.52780151367188,
                        "y": 4298.83642578125,
                        "z": 373.1343688964844
                    },
                    "rotation": {
                        "roll": 0.00012922059977427125,
                        "pitch": -0.23568248748779297,
                        "yaw": -0.2211609035730362
                    }
                },
                "velocity": {
                    "x": -0.00012407870963215828,
                    "y": 8.102085121208802e-05,
                    "z": 0.0012069593649357557
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007091853185556829,
                "transform": {
                    "location": {
                        "x": -191.97506713867188,
                        "y": 4302.09326171875,
                        "z": 373.18115234375
                    },
                    "rotation": {
                        "roll": 0.0003707011346705258,
                        "pitch": -0.23235619068145752,
                        "yaw": -0.0909423753619194
                    }
                },
                "velocity": {
                    "x": -0.0002858349762391299,
                    "y": 9.267655514122453e-06,
                    "z": 0.0006489655352197587
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.49624633789062,
                        "y": 4315.10791015625,
                        "z": 373.10601806640625
                    },
                    "rotation": {
                        "roll": -0.0006103520863689482,
                        "pitch": -0.08334196358919144,
                        "yaw": -90.03453826904297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012867774348706007,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28076171875,
                        "z": 373.04498291015625
                    },
                    "rotation": {
                        "roll": -0.0039367713034152985,
                        "pitch": 0.11313524842262268,
                        "yaw": 88.72543334960938
                    }
                },
                "velocity": {
                    "x": 0.00041911492007784545,
                    "y": -0.0005417116335593164,
                    "z": 0.0010893517173826694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.070070266723633,
                "transform": {
                    "location": {
                        "x": -100.59500122070312,
                        "y": 4294.8603515625,
                        "z": 372.7985534667969
                    },
                    "rotation": {
                        "roll": 0.0004960185033269227,
                        "pitch": 0.23312117159366608,
                        "yaw": 179.65419006347656
                    }
                },
                "velocity": {
                    "x": -8.069857597351074,
                    "y": 0.048591237515211105,
                    "z": 0.03284366428852081
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010961269726976752,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.25115966796875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.22213822603225708,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 5.153193797013955e-06,
                    "y": -6.072699397918768e-05,
                    "z": -0.001094431267119944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.687595367431641,
                "transform": {
                    "location": {
                        "x": -207.087890625,
                        "y": 4302.14404296875,
                        "z": 373.2353820800781
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.16494223475456238,
                        "yaw": 0.16494236886501312
                    }
                },
                "velocity": {
                    "x": 5.687552452087402,
                    "y": 0.002653668401762843,
                    "z": -0.021917790174484253
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016890109982341528,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2882995605469
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.4368258234753739e-05,
                    "y": -0.0001552769826957956,
                    "z": 0.0016817968571558595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -85.07827758789062,
                        "y": 4294.8701171875,
                        "z": 372.74664306640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23500630259513855,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.1191394329071045,
                "transform": {
                    "location": {
                        "x": -202.73265075683594,
                        "y": 4298.89599609375,
                        "z": 373.22198486328125
                    },
                    "rotation": {
                        "roll": 0.0016727786278352141,
                        "pitch": -0.5175780653953552,
                        "yaw": -0.0859985202550888
                    }
                },
                "velocity": {
                    "x": 3.1190950870513916,
                    "y": -0.009539312683045864,
                    "z": -0.013632831163704395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.249519348144531,
                "transform": {
                    "location": {
                        "x": -96.72632598876953,
                        "y": 4298.2890625,
                        "z": 372.797607421875
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -0.23247914016246796,
                        "yaw": -0.3452453315258026
                    }
                },
                "velocity": {
                    "x": 13.249152183532715,
                    "y": -0.08292616903781891,
                    "z": -0.05332120880484581
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.13414001464844,
                        "y": 4301.41162109375,
                        "z": 372.7390441894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013291845098137856,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 2.0353496438474394e-05,
                    "y": 4.140219971304759e-06,
                    "z": 0.0013290222268551588
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.240972518920898,
                "transform": {
                    "location": {
                        "x": -119.66632843017578,
                        "y": 4294.97021484375,
                        "z": 372.87994384765625
                    },
                    "rotation": {
                        "roll": 0.0004162119294051081,
                        "pitch": 0.24480079114437103,
                        "yaw": 179.74142456054688
                    }
                },
                "velocity": {
                    "x": -4.240860939025879,
                    "y": 0.02626359835267067,
                    "z": 0.01605227403342724
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.836860179901123,
                "transform": {
                    "location": {
                        "x": -136.83140563964844,
                        "y": 4295.07373046875,
                        "z": 372.94537353515625
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.23927517235279083,
                        "yaw": 179.64205932617188
                    }
                },
                "velocity": {
                    "x": -5.836709976196289,
                    "y": 0.03549611568450928,
                    "z": 0.022257480770349503
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004380549071356654,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0026855464093387127,
                        "pitch": 0.2057935893535614,
                        "yaw": 179.51243591308594
                    }
                },
                "velocity": {
                    "x": 9.127855264523532e-06,
                    "y": 2.6923371478915215e-05,
                    "z": -0.0004371314716991037
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.17877720296382904,
        "expert_target_speed": 7.282723209921092,
        "target_point": [
            9.55418811644461,
            -0.5207637210287144
        ],
        "target_point_next": [
            30.04097850550322,
            -1.2631102594819845
        ]
    },
    "575": {
        "acceleration": [
            2.350749969482422,
            0.5935049057006836,
            -0.03699358552694321
        ],
        "angular_velocity": [
            -0.9265739917755127,
            -0.6097867488861084,
            -5.647935390472412
        ],
        "forward_vector": [
            -0.9998382329940796,
            0.017906786873936653,
            0.0017077913507819176
        ],
        "right_vector": [
            -0.01792190596461296,
            -0.9997962117195129,
            -0.009291660971939564
        ],
        "location": [
            -158.1551513671875,
            4291.89013671875,
            373.02734375
        ],
        "rotation": [
            0.5323814153671265,
            0.0978492870926857,
            178.97396850585938
        ],
        "velocity": [
            -7.354277610778809,
            0.26561683416366577,
            0.02510073594748974
        ],
        "speed": 7.3590727322804455,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 63.37031555175781,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.25115966796875
            ],
            "velocity": [
                1.2581012924783863e-05,
                -2.418623807898257e-05,
                0.0011113003129139543
            ],
            "speed_kmh": 0.004001884815133662,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.13739848136901855,
                "transform": {
                    "location": {
                        "x": -177.31085205078125,
                        "y": 4244.75537109375,
                        "z": 372.9158935546875
                    },
                    "rotation": {
                        "roll": -0.0002441411488689482,
                        "pitch": 0.22787559032440186,
                        "yaw": 90.57296752929688
                    }
                },
                "velocity": {
                    "x": -6.508410479000304e-06,
                    "y": -0.0005600601434707642,
                    "z": 0.13739734888076782
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06125389412045479,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.11468505859375
                    },
                    "rotation": {
                        "roll": 6.583895446965471e-05,
                        "pitch": 0.030312377959489822,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -4.1654806409496814e-05,
                    "y": 3.303708945168182e-05,
                    "z": 0.061253871768713
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.02688821405172348,
                "transform": {
                    "location": {
                        "x": -223.16171264648438,
                        "y": 4302.18603515625,
                        "z": 373.2619323730469
                    },
                    "rotation": {
                        "roll": 0.00025165898841805756,
                        "pitch": -0.22341547906398773,
                        "yaw": -0.3388061821460724
                    }
                },
                "velocity": {
                    "x": -0.00010150369053008035,
                    "y": 4.125408668187447e-05,
                    "z": -0.026887990534305573
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0022386370692402124,
                "transform": {
                    "location": {
                        "x": -217.5281219482422,
                        "y": 4298.93359375,
                        "z": 373.24163818359375
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": -1.162573218345642,
                        "yaw": 0.18118694424629211
                    }
                },
                "velocity": {
                    "x": 0.0020353079307824373,
                    "y": -9.634176967665553e-05,
                    "z": -0.0009272192837670445
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.853678226470947,
                "transform": {
                    "location": {
                        "x": -177.47225952148438,
                        "y": 4264.7822265625,
                        "z": 373.03948974609375
                    },
                    "rotation": {
                        "roll": 0.0014817287446931005,
                        "pitch": 0.14452679455280304,
                        "yaw": 90.18938446044922
                    }
                },
                "velocity": {
                    "x": -0.020735178142786026,
                    "y": 6.85361385345459,
                    "z": 0.02129964716732502
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.578793048858643,
                "transform": {
                    "location": {
                        "x": -174.4855499267578,
                        "y": 4328.41064453125,
                        "z": 373.1203308105469
                    },
                    "rotation": {
                        "roll": 0.0028699401300400496,
                        "pitch": -0.17630083858966827,
                        "yaw": -90.02265167236328
                    }
                },
                "velocity": {
                    "x": -0.002951391041278839,
                    "y": -6.578792095184326,
                    "z": -0.0021330928429961205
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013257546816021204,
                "transform": {
                    "location": {
                        "x": -191.52764892578125,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.000647118256893009,
                        "pitch": -0.21417422592639923,
                        "yaw": -0.221160888671875
                    }
                },
                "velocity": {
                    "x": -2.897225203923881e-05,
                    "y": -0.00017301285697612911,
                    "z": 0.001314097666181624
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008847291464917362,
                "transform": {
                    "location": {
                        "x": -191.97491455078125,
                        "y": 4302.09326171875,
                        "z": 373.1809387207031
                    },
                    "rotation": {
                        "roll": -6.103516352595761e-05,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.090972900390625
                    }
                },
                "velocity": {
                    "x": -4.195511428406462e-05,
                    "y": -1.5904265637800563e-06,
                    "z": 0.000883732340298593
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.49624633789062,
                        "y": 4315.10791015625,
                        "z": 373.10601806640625
                    },
                    "rotation": {
                        "roll": -0.0006103520863689482,
                        "pitch": -0.08334196358919144,
                        "yaw": -90.03453826904297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010177390649914742,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036621131002902985,
                        "pitch": 0.14079751074314117,
                        "yaw": 88.72541809082031
                    }
                },
                "velocity": {
                    "x": -5.910563049837947e-05,
                    "y": -0.0001469323760829866,
                    "z": 0.0010053408332169056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.020835876464844,
                "transform": {
                    "location": {
                        "x": -102.60578155517578,
                        "y": 4294.87158203125,
                        "z": 372.806640625
                    },
                    "rotation": {
                        "roll": 0.0001775290147634223,
                        "pitch": 0.22995880246162415,
                        "yaw": 179.65406799316406
                    }
                },
                "velocity": {
                    "x": -8.020622253417969,
                    "y": 0.04843168333172798,
                    "z": 0.0327741801738739
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011116346577182412,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.25115966796875
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.22213822603225708,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.2581012924783863e-05,
                    "y": -2.418623807898257e-05,
                    "z": 0.0011113003129139543
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.355482578277588,
                "transform": {
                    "location": {
                        "x": -205.378662109375,
                        "y": 4302.14599609375,
                        "z": 373.2281494140625
                    },
                    "rotation": {
                        "roll": 0.0017500151880085468,
                        "pitch": -0.0684521496295929,
                        "yaw": -0.02017211727797985
                    }
                },
                "velocity": {
                    "x": 7.355435848236084,
                    "y": -0.0015934924595057964,
                    "z": -0.02621038444340229
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001626254408620298,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2887878417969
                    },
                    "rotation": {
                        "roll": 0.00028312276117503643,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.968596006918233e-05,
                    "y": -8.547753532184288e-05,
                    "z": 0.001623887219466269
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -87.0906982421875,
                        "y": 4294.8818359375,
                        "z": 372.7548828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23358562588691711,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.7535431981086731,
                "transform": {
                    "location": {
                        "x": -202.5154571533203,
                        "y": 4298.89599609375,
                        "z": 373.22113037109375
                    },
                    "rotation": {
                        "roll": -0.00152587890625,
                        "pitch": -0.5131179094314575,
                        "yaw": -0.1458740234375
                    }
                },
                "velocity": {
                    "x": 0.753538191318512,
                    "y": 0.0008054307545535266,
                    "z": -0.002621622057631612
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.258129119873047,
                "transform": {
                    "location": {
                        "x": -93.41281127929688,
                        "y": 4298.26904296875,
                        "z": 372.7841796875
                    },
                    "rotation": {
                        "roll": 8.530088962288573e-05,
                        "pitch": -0.23293675482273102,
                        "yaw": -0.3490905463695526
                    }
                },
                "velocity": {
                    "x": 13.25777816772461,
                    "y": -0.08070299029350281,
                    "z": -0.05278807133436203
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11468,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -79.66281127929688,
                        "y": 4301.34326171875,
                        "z": 372.7245178222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008849280420690775,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0015167025849223137,
                        "pitch": 0.1982598900794983,
                        "yaw": 179.7138671875
                    }
                },
                "velocity": {
                    "x": 1.1856518540298566e-05,
                    "y": -1.097711219699704e-06,
                    "z": 0.0008848479483276606
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.001772403717041,
                "transform": {
                    "location": {
                        "x": -120.82366943359375,
                        "y": 4294.9775390625,
                        "z": 372.8845520019531
                    },
                    "rotation": {
                        "roll": 0.0001804212952265516,
                        "pitch": 0.2446095496416092,
                        "yaw": 179.68809509277344
                    }
                },
                "velocity": {
                    "x": -5.001636028289795,
                    "y": 0.03179286792874336,
                    "z": 0.018770208582282066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.192863464355469,
                "transform": {
                    "location": {
                        "x": -138.306640625,
                        "y": 4295.0830078125,
                        "z": 372.951171875
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": 0.21779422461986542,
                        "yaw": 179.58035278320312
                    }
                },
                "velocity": {
                    "x": -5.192727088928223,
                    "y": 0.03223584219813347,
                    "z": 0.01943766511976719
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.696766988374293e-05,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": 0.2058277428150177,
                        "yaw": 179.51251220703125
                    }
                },
                "velocity": {
                    "x": 3.4721940664894646e-06,
                    "y": 9.351214430353139e-06,
                    "z": -7.631855260115117e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.07970955967903137,
        "expert_target_speed": 6.446860883091745,
        "target_point": [
            7.672512646841535,
            -0.06916505636305323
        ],
        "target_point_next": [
            28.17127207271023,
            0.17684475794747923
        ]
    },
    "580": {
        "acceleration": [
            4.524812698364258,
            -0.04043310880661011,
            -0.022384822368621826
        ],
        "angular_velocity": [
            -0.8159162402153015,
            -0.7720230221748352,
            -4.4479079246521
        ],
        "forward_vector": [
            -0.9994240403175354,
            0.03390532359480858,
            -0.0014040464302524924
        ],
        "right_vector": [
            -0.03389981389045715,
            -0.9994180798530579,
            -0.0037776546087116003
        ],
        "location": [
            -159.8856201171875,
            4291.94580078125,
            373.0339660644531
        ],
        "rotation": [
            0.21644440293312073,
            -0.08044596016407013,
            178.05699157714844
        ],
        "velocity": [
            -6.45479154586792,
            0.23695901036262512,
            0.022985057905316353
        ],
        "speed": 6.459139530401863,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 61.63943862915039,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.6291774954879656e-05,
                -8.533853360859212e-06,
                0.0017971679335460067
            ],
            "speed_kmh": 0.006470143333509471,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5882805585861206,
                "transform": {
                    "location": {
                        "x": -177.31295776367188,
                        "y": 4244.87255859375,
                        "z": 372.9295654296875
                    },
                    "rotation": {
                        "roll": -0.0007324517937377095,
                        "pitch": 0.2587275505065918,
                        "yaw": 90.64598083496094
                    }
                },
                "velocity": {
                    "x": -0.03881589695811272,
                    "y": 1.5877445936203003,
                    "z": 0.013991832733154297
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2199368476867676,
                "transform": {
                    "location": {
                        "x": -174.56100463867188,
                        "y": 4348.96630859375,
                        "z": 373.1187744140625
                    },
                    "rotation": {
                        "roll": -0.0013732926454395056,
                        "pitch": 0.07276882976293564,
                        "yaw": -89.9576416015625
                    }
                },
                "velocity": {
                    "x": 0.01735813543200493,
                    "y": -2.2198691368103027,
                    "z": -0.00047947882558219135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.07872919738292694,
                "transform": {
                    "location": {
                        "x": -223.158203125,
                        "y": 4302.18603515625,
                        "z": 373.2640075683594
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.21450208127498627,
                        "yaw": -0.3380737602710724
                    }
                },
                "velocity": {
                    "x": 0.07554896175861359,
                    "y": -0.00037431783857755363,
                    "z": 0.02214726433157921
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.45130059123039246,
                "transform": {
                    "location": {
                        "x": -217.51092529296875,
                        "y": 4298.93359375,
                        "z": 373.2416687011719
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.47555190324783325,
                        "yaw": 0.18952155113220215
                    }
                },
                "velocity": {
                    "x": 0.45129290223121643,
                    "y": 0.001077981200069189,
                    "z": -0.0024045370519161224
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.74610710144043,
                "transform": {
                    "location": {
                        "x": -177.47694396972656,
                        "y": 4266.40966796875,
                        "z": 373.044921875
                    },
                    "rotation": {
                        "roll": 0.0017648657085373998,
                        "pitch": 0.0929042249917984,
                        "yaw": 90.17015075683594
                    }
                },
                "velocity": {
                    "x": -0.015185695141553879,
                    "y": 5.746057033538818,
                    "z": 0.018627099692821503
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.062255859375,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4327.21044921875,
                        "z": 373.1234436035156
                    },
                    "rotation": {
                        "roll": -0.004028358496725559,
                        "pitch": -1.2078232765197754,
                        "yaw": -89.96349334716797
                    }
                },
                "velocity": {
                    "x": 0.0009096104186028242,
                    "y": -2.0622518062591553,
                    "z": -0.003989047836512327
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007019577315077186,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.0006846977630630136,
                        "pitch": -0.20486468076705933,
                        "yaw": -0.2211608737707138
                    }
                },
                "velocity": {
                    "x": 6.252154776120733e-07,
                    "y": -4.0917300793807954e-05,
                    "z": 0.0007007638923823833
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010596669744700193,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.0009858470875769854,
                        "pitch": -0.2045641541481018,
                        "yaw": -0.0909728854894638
                    }
                },
                "velocity": {
                    "x": -1.6254223737632856e-05,
                    "y": 3.792221468756907e-05,
                    "z": 0.0010588634759187698
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006678537465631962,
                "transform": {
                    "location": {
                        "x": -174.49624633789062,
                        "y": 4315.10791015625,
                        "z": 373.10577392578125
                    },
                    "rotation": {
                        "roll": 0.000255855469731614,
                        "pitch": -0.07531648874282837,
                        "yaw": -90.03453826904297
                    }
                },
                "velocity": {
                    "x": -2.7916685212403536e-05,
                    "y": 1.451235220883973e-05,
                    "z": -0.0006671121809631586
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014271015534177423,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": 5.6244050938403234e-05,
                    "y": -5.7377979828743264e-05,
                    "z": 0.0014248379739001393
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.071107864379883,
                "transform": {
                    "location": {
                        "x": -104.61702728271484,
                        "y": 4294.8837890625,
                        "z": 372.81463623046875
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": 0.23061449825763702,
                        "yaw": 179.65374755859375
                    }
                },
                "velocity": {
                    "x": -8.070892333984375,
                    "y": 0.04880634322762489,
                    "z": 0.03315827250480652
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0017972621135413647,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.6291774954879656e-05,
                    "y": -8.533853360859212e-06,
                    "z": 0.0017971679335460067
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.97460412979126,
                "transform": {
                    "location": {
                        "x": -203.669677734375,
                        "y": 4302.14501953125,
                        "z": 373.22369384765625
                    },
                    "rotation": {
                        "roll": 0.0016555464826524258,
                        "pitch": -0.27648603916168213,
                        "yaw": 0.023017579689621925
                    }
                },
                "velocity": {
                    "x": 5.974554538726807,
                    "y": -0.008437948301434517,
                    "z": -0.02281799726188183
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00123623909894377,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.288818359375
                    },
                    "rotation": {
                        "roll": 0.000722974946256727,
                        "pitch": 0.22183087468147278,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.5017985788290389e-05,
                    "y": 9.560177431922057e-07,
                    "z": 0.0012361474800854921
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -89.10077667236328,
                        "y": 4294.89404296875,
                        "z": 372.7630920410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23358562588691711,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8355510234832764,
                "transform": {
                    "location": {
                        "x": -202.1688995361328,
                        "y": 4298.89501953125,
                        "z": 373.2170715332031
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.18582211434841156,
                        "yaw": -0.1753234714269638
                    }
                },
                "velocity": {
                    "x": 1.8355276584625244,
                    "y": -0.0069488659501075745,
                    "z": -0.006089744623750448
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 13.249591827392578,
                "transform": {
                    "location": {
                        "x": -90.09937286376953,
                        "y": 4298.25,
                        "z": 372.77069091796875
                    },
                    "rotation": {
                        "roll": 0.0003107773663941771,
                        "pitch": -0.23506778478622437,
                        "yaw": -0.349151611328125
                    }
                },
                "velocity": {
                    "x": 13.24924087524414,
                    "y": -0.08072324842214584,
                    "z": -0.052659157663583755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006371114868670702,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.4456361441261834e-06,
                    "y": -1.2495862392825074e-05,
                    "z": 0.0006369872717186809
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.577539443969727,
                "transform": {
                    "location": {
                        "x": -122.15101623535156,
                        "y": 4294.98583984375,
                        "z": 372.8900451660156
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.24001966416835785,
                        "yaw": 179.8115692138672
                    }
                },
                "velocity": {
                    "x": -5.577429294586182,
                    "y": 0.026938071474432945,
                    "z": 0.02244976907968521
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013947330880910158,
                "transform": {
                    "location": {
                        "x": -138.87069702148438,
                        "y": 4295.076171875,
                        "z": 372.9544982910156
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.06692218780517578,
                        "yaw": 178.32879638671875
                    }
                },
                "velocity": {
                    "x": -2.4403594579780474e-05,
                    "y": -0.0013346066698431969,
                    "z": 0.00040436352719552815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006322438712231815,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": 0.2058277428150177,
                        "yaw": 179.51251220703125
                    }
                },
                "velocity": {
                    "x": 2.829842287610518e-06,
                    "y": 1.674487975833472e-05,
                    "z": -0.0006320157554000616
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.050131477415561676,
        "expert_target_speed": 5.029077479539318,
        "target_point": [
            26.433473143209838,
            0.6246184931814731
        ],
        "target_point_next": [
            37.429153639233306,
            0.9321763121017734
        ]
    },
    "585": {
        "acceleration": [
            24.780330657958984,
            -0.6579538583755493,
            -0.06520328670740128
        ],
        "angular_velocity": [
            -0.3123404383659363,
            -5.408102512359619,
            1.4911171197891235
        ],
        "forward_vector": [
            -0.9992377758026123,
            0.030046582221984863,
            -0.024920744821429253
        ],
        "right_vector": [
            -0.030005477368831635,
            -0.9995476603507996,
            -0.0020218114368617535
        ],
        "location": [
            -160.74913024902344,
            4291.9794921875,
            373.0417175292969
        ],
        "rotation": [
            0.11587731540203094,
            -1.4280012845993042,
            178.2776641845703
        ],
        "velocity": [
            -0.5874530673027039,
            0.04288433864712715,
            0.0008645534398965538
        ],
        "speed": 0.5890162754835868,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.77567672729492,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.27927124191774e-06,
                8.663319022161886e-06,
                0.0009203218505717814
            ],
            "speed_kmh": 0.0033134395073050062,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.795520067214966,
                "transform": {
                    "location": {
                        "x": -177.32131958007812,
                        "y": 4245.44921875,
                        "z": 372.9315185546875
                    },
                    "rotation": {
                        "roll": 0.0015224275412037969,
                        "pitch": 0.2606809735298157,
                        "yaw": 90.72445678710938
                    }
                },
                "velocity": {
                    "x": -0.038340747356414795,
                    "y": 2.7952492237091064,
                    "z": 0.0066618537530303
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.160097122192383,
                "transform": {
                    "location": {
                        "x": -174.55694580078125,
                        "y": 4348.28125,
                        "z": 373.11859130859375
                    },
                    "rotation": {
                        "roll": -0.0008850135491229594,
                        "pitch": 0.057954151183366776,
                        "yaw": -89.77841186523438
                    }
                },
                "velocity": {
                    "x": 0.02719535119831562,
                    "y": -3.159979820251465,
                    "z": -0.001053180661983788
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6666058897972107,
                "transform": {
                    "location": {
                        "x": -223.0699920654297,
                        "y": 4302.18701171875,
                        "z": 373.2665100097656
                    },
                    "rotation": {
                        "roll": -0.005401611328125,
                        "pitch": -0.0977809801697731,
                        "yaw": -0.3762817084789276
                    }
                },
                "velocity": {
                    "x": 0.6665738821029663,
                    "y": 0.005316755268722773,
                    "z": 0.0037924956995993853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0377612113952637,
                "transform": {
                    "location": {
                        "x": -217.16851806640625,
                        "y": 4298.93505859375,
                        "z": 373.2404479980469
                    },
                    "rotation": {
                        "roll": -0.001617431640625,
                        "pitch": -0.024165207520127296,
                        "yaw": 0.16836975514888763
                    }
                },
                "velocity": {
                    "x": 2.037743330001831,
                    "y": 0.005146082490682602,
                    "z": -0.0067994496785104275
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.1453803926706314,
                "transform": {
                    "location": {
                        "x": -177.4794464111328,
                        "y": 4267.12646484375,
                        "z": 373.0501403808594
                    },
                    "rotation": {
                        "roll": -0.0013427764642983675,
                        "pitch": -0.29196324944496155,
                        "yaw": 90.1490249633789
                    }
                },
                "velocity": {
                    "x": -0.0026184481102973223,
                    "y": 0.14534972608089447,
                    "z": 0.0014351654099300504
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6093378067016602,
                "transform": {
                    "location": {
                        "x": -174.48577880859375,
                        "y": 4327.1015625,
                        "z": 373.12310791015625
                    },
                    "rotation": {
                        "roll": -0.0007629586034454405,
                        "pitch": -1.1924690008163452,
                        "yaw": -89.95734405517578
                    }
                },
                "velocity": {
                    "x": 0.0015232858713716269,
                    "y": -0.60933518409729,
                    "z": 0.0009404945303685963
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013815333368256688,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.4198199096426833e-06,
                    "y": -3.0267037800513208e-05,
                    "z": 0.001381200971081853
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010183693375438452,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.0009858470875769854,
                        "pitch": -0.2045641541481018,
                        "yaw": -0.0909728854894638
                    }
                },
                "velocity": {
                    "x": 2.4894476155168377e-05,
                    "y": -8.106566383503377e-06,
                    "z": 0.0010180327808484435
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013863302301615477,
                "transform": {
                    "location": {
                        "x": -174.49624633789062,
                        "y": 4315.10791015625,
                        "z": 373.1058654785156
                    },
                    "rotation": {
                        "roll": -0.00012206970859551802,
                        "pitch": -0.06869804114103317,
                        "yaw": -90.0345458984375
                    }
                },
                "velocity": {
                    "x": -8.046952643780969e-06,
                    "y": -1.295842224635635e-07,
                    "z": 0.0013863068306818604
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014269632520154119,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": -5.120038986206055e-05,
                    "y": -1.7005204426823184e-06,
                    "z": 0.0014260434545576572
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.986810684204102,
                "transform": {
                    "location": {
                        "x": -106.626953125,
                        "y": 4294.89501953125,
                        "z": 372.8227233886719
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": 0.22894792258739471,
                        "yaw": 179.654052734375
                    }
                },
                "velocity": {
                    "x": -7.986597061157227,
                    "y": 0.04825406149029732,
                    "z": 0.032984960824251175
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009203998488374054,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.27927124191774e-06,
                    "y": 8.663319022161886e-06,
                    "z": 0.0009203218505717814
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.349340796470642,
                "transform": {
                    "location": {
                        "x": -202.923583984375,
                        "y": 4302.14111328125,
                        "z": 373.2237854003906
                    },
                    "rotation": {
                        "roll": -0.0040283203125,
                        "pitch": -0.6346133351325989,
                        "yaw": 0.17900989949703217
                    }
                },
                "velocity": {
                    "x": 1.3493210077285767,
                    "y": -0.005148549564182758,
                    "z": -0.005179176107048988
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014739405596628785,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0009784222347661853,
                        "pitch": 0.22174890339374542,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.079561899241526e-06,
                    "y": -2.4978471628855914e-05,
                    "z": 0.0014737163437530398
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -91.11304473876953,
                        "y": 4294.9052734375,
                        "z": 372.7713623046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.23358562588691711,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.993194818496704,
                "transform": {
                    "location": {
                        "x": -201.5664825439453,
                        "y": 4298.8935546875,
                        "z": 373.2142028808594
                    },
                    "rotation": {
                        "roll": 9.224007226293907e-05,
                        "pitch": -0.10851804167032242,
                        "yaw": -0.1847839057445526
                    }
                },
                "velocity": {
                    "x": 2.9931538105010986,
                    "y": -0.011613849550485611,
                    "z": -0.010531882755458355
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -86.62866973876953,
                        "y": 4298.1484375,
                        "z": 372.7537536621094
                    },
                    "rotation": {
                        "roll": 1.0422129131937297e-10,
                        "pitch": -0.23501314222812653,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011002460960298777,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.8416270904708654e-05,
                    "y": 1.7220332665601745e-05,
                    "z": 0.0010999571532011032
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.2156081199646,
                "transform": {
                    "location": {
                        "x": -123.64273071289062,
                        "y": 4294.99365234375,
                        "z": 372.89581298828125
                    },
                    "rotation": {
                        "roll": -0.0008544920128770173,
                        "pitch": 0.2391180843114853,
                        "yaw": 179.75596618652344
                    }
                },
                "velocity": {
                    "x": -6.215458393096924,
                    "y": 0.03623390197753906,
                    "z": 0.023424014449119568
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0569343566894531,
                "transform": {
                    "location": {
                        "x": -139.0398406982422,
                        "y": 4295.0791015625,
                        "z": 372.95404052734375
                    },
                    "rotation": {
                        "roll": -0.0047607421875,
                        "pitch": 0.20747381448745728,
                        "yaw": 178.47154235839844
                    }
                },
                "velocity": {
                    "x": -1.0568830966949463,
                    "y": 0.010087861679494381,
                    "z": 0.0025483607314527035
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00045698604662902653,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": 0.2058277428150177,
                        "yaw": 179.51251220703125
                    }
                },
                "velocity": {
                    "x": 6.309486707323231e-06,
                    "y": 7.740109708720411e-07,
                    "z": -0.00045694183791056275
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0435265451669693,
        "expert_target_speed": 0.03369776771103028,
        "target_point": [
            25.57155011367191,
            0.5305306095273694
        ],
        "target_point_next": [
            36.568333587677444,
            0.7957373372865753
        ]
    },
    "590": {
        "acceleration": [
            -0.012630801647901535,
            -0.01661122776567936,
            0.01501493901014328
        ],
        "angular_velocity": [
            -0.049382179975509644,
            4.0095953941345215,
            -0.0008901871624402702
        ],
        "forward_vector": [
            -0.9994308352470398,
            0.02983773872256279,
            -0.015738552436232567
        ],
        "right_vector": [
            -0.029834259301424026,
            -0.9995547533035278,
            -0.00045579139259643853
        ],
        "location": [
            -160.757568359375,
            4291.97998046875,
            373.0396423339844
        ],
        "rotation": [
            0.026118159294128418,
            -0.9017898440361023,
            178.2899627685547
        ],
        "velocity": [
            0.012202170677483082,
            0.000986801227554679,
            0.0011996370740234852
        ],
        "speed": 0.012242007429548936,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.767242431640625,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.923316611093469e-06,
                -1.1777876352425665e-05,
                0.0005336629692465067
            ],
            "speed_kmh": 0.0019219865465353802,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5945656299591064,
                "transform": {
                    "location": {
                        "x": -177.33218383789062,
                        "y": 4246.25390625,
                        "z": 372.9342346191406
                    },
                    "rotation": {
                        "roll": 0.0009904397884383798,
                        "pitch": 0.2456955462694168,
                        "yaw": 90.74938201904297
                    }
                },
                "velocity": {
                    "x": -0.049702439457178116,
                    "y": 3.594196319580078,
                    "z": 0.013563575223088264
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9069244861602783,
                "transform": {
                    "location": {
                        "x": -174.55030822753906,
                        "y": 4347.3935546875,
                        "z": 373.1188049316406
                    },
                    "rotation": {
                        "roll": -0.00012206965038785711,
                        "pitch": 0.047538112848997116,
                        "yaw": -89.65209197998047
                    }
                },
                "velocity": {
                    "x": 0.03462972119450569,
                    "y": -3.9067704677581787,
                    "z": 0.0019223785493522882
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.5255025625228882,
                "transform": {
                    "location": {
                        "x": -222.81515502929688,
                        "y": 4302.18701171875,
                        "z": 373.2648620605469
                    },
                    "rotation": {
                        "roll": -0.004730224609375,
                        "pitch": -0.02313384972512722,
                        "yaw": -0.3082275390625
                    }
                },
                "velocity": {
                    "x": 1.5254628658294678,
                    "y": 0.005988575052469969,
                    "z": -0.009250564500689507
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.5912082195281982,
                "transform": {
                    "location": {
                        "x": -216.46875,
                        "y": 4298.93701171875,
                        "z": 373.23785400390625
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.07627271860837936,
                        "yaw": 0.15944775938987732
                    }
                },
                "velocity": {
                    "x": 3.5911755561828613,
                    "y": 0.008461611345410347,
                    "z": -0.012774772010743618
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2212110757827759,
                "transform": {
                    "location": {
                        "x": -177.4796905517578,
                        "y": 4267.2734375,
                        "z": 373.04736328125
                    },
                    "rotation": {
                        "roll": -6.103824125602841e-05,
                        "pitch": 0.10023301839828491,
                        "yaw": 90.14965057373047
                    }
                },
                "velocity": {
                    "x": -0.00340680661611259,
                    "y": 1.2212039232254028,
                    "z": 0.002415561582893133
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5151888132095337,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4326.8154296875,
                        "z": 373.1191711425781
                    },
                    "rotation": {
                        "roll": -0.0003662036033347249,
                        "pitch": -0.1610421985387802,
                        "yaw": -89.96453094482422
                    }
                },
                "velocity": {
                    "x": -0.00023241456074174494,
                    "y": -1.5151885747909546,
                    "z": 0.0008369541028514504
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001185291912406683,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 8.304789844260085e-06,
                    "y": 1.479776983615011e-05,
                    "z": 0.0011851703748106956
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015800625551491976,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 6.770901109121041e-06,
                    "y": 2.857934305211529e-06,
                    "z": 0.001580045442096889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001382252899929881,
                "transform": {
                    "location": {
                        "x": -174.49624633789062,
                        "y": 4315.10791015625,
                        "z": 373.1058654785156
                    },
                    "rotation": {
                        "roll": -0.00012206970859551802,
                        "pitch": -0.06869804114103317,
                        "yaw": -90.0345458984375
                    }
                },
                "velocity": {
                    "x": -1.8703078239923343e-05,
                    "y": -4.26753422289039e-06,
                    "z": 0.001382119720801711
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013166313292458653,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": -5.8265843108529225e-05,
                    "y": 7.309168267966015e-06,
                    "z": 0.001315321191214025
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.653656005859375,
                "transform": {
                    "location": {
                        "x": -108.55850982666016,
                        "y": 4294.9072265625,
                        "z": 372.8306579589844
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.211114302277565,
                        "yaw": 179.65394592285156
                    }
                },
                "velocity": {
                    "x": -7.653458118438721,
                    "y": 0.046217117458581924,
                    "z": 0.029947767034173012
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005338851478882134,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.923316611093469e-06,
                    "y": -1.1777876352425665e-05,
                    "z": 0.0005336629692465067
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.750826835632324,
                "transform": {
                    "location": {
                        "x": -202.39093017578125,
                        "y": 4302.14013671875,
                        "z": 373.2182312011719
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.21746638417243958,
                        "yaw": 0.10444871336221695
                    }
                },
                "velocity": {
                    "x": 2.750797748565674,
                    "y": -0.007975231856107712,
                    "z": -0.009831266477704048
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001375670195557177,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0009899534052237868,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 4.417821855895454e-06,
                    "y": -4.9739614041754976e-05,
                    "z": 0.0013747636694461107
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.034798622131348,
                "transform": {
                    "location": {
                        "x": -92.70390319824219,
                        "y": 4294.908203125,
                        "z": 372.7767639160156
                    },
                    "rotation": {
                        "roll": -0.016143798828125,
                        "pitch": 0.07531648874282837,
                        "yaw": 179.9105987548828
                    }
                },
                "velocity": {
                    "x": -6.034750938415527,
                    "y": -0.008287510834634304,
                    "z": 0.02241022139787674
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.7464141845703125,
                "transform": {
                    "location": {
                        "x": -200.7947540283203,
                        "y": 4298.89013671875,
                        "z": 373.21221923828125
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.19620400667190552,
                        "yaw": -0.1933898776769638
                    }
                },
                "velocity": {
                    "x": 2.7463817596435547,
                    "y": -0.009281651116907597,
                    "z": -0.009578914381563663
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11469,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -83.1567153930664,
                        "y": 4298.10986328125,
                        "z": 372.73883056640625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.23608547449111938,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001244793413206935,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": -6.949156272639812e-07,
                    "y": 5.850957222719444e-06,
                    "z": 0.0012447795597836375
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.30287504196167,
                "transform": {
                    "location": {
                        "x": -125.34249877929688,
                        "y": 4295.00341796875,
                        "z": 372.90234375
                    },
                    "rotation": {
                        "roll": -0.0005798338679596782,
                        "pitch": 0.24886475503444672,
                        "yaw": 179.64056396484375
                    }
                },
                "velocity": {
                    "x": -7.302661418914795,
                    "y": 0.04760840907692909,
                    "z": 0.029263542965054512
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6012940406799316,
                "transform": {
                    "location": {
                        "x": -139.374755859375,
                        "y": 4295.08349609375,
                        "z": 372.9549255371094
                    },
                    "rotation": {
                        "roll": -0.004974365700036287,
                        "pitch": 0.24182966351509094,
                        "yaw": 178.61447143554688
                    }
                },
                "velocity": {
                    "x": -1.6012154817581177,
                    "y": 0.014664165675640106,
                    "z": 0.006052770651876926
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0029907221905887127,
                        "pitch": 0.20586872100830078,
                        "yaw": 179.51255798339844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.04593728110194206,
        "expert_target_speed": 0.0,
        "target_point": [
            25.5632144411188,
            0.525279797825148
        ],
        "target_point_next": [
            36.560054569150594,
            0.7881268657554787
        ]
    },
    "595": {
        "acceleration": [
            0.3925791084766388,
            -0.01363920047879219,
            -0.006185669917613268
        ],
        "angular_velocity": [
            0.007173699326813221,
            1.6198961734771729,
            -0.01633560098707676
        ],
        "forward_vector": [
            -0.999548614025116,
            0.029840778559446335,
            -0.0034753012005239725
        ],
        "right_vector": [
            -0.02984050288796425,
            -0.9995546340942383,
            -0.00013105073594488204
        ],
        "location": [
            -160.76210021972656,
            4291.97998046875,
            373.03717041015625
        ],
        "rotation": [
            0.00750869931653142,
            -0.19912049174308777,
            178.2899932861328
        ],
        "velocity": [
            0.026498764753341675,
            -0.0002595899859443307,
            0.0015052985399961472
        ],
        "speed": 0.026500036234196844,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.762718200683594,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2230761058162898e-05,
                1.574955058458727e-05,
                0.0014133610529825091
            ],
            "speed_kmh": 0.005088606183728475,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.326949119567871,
                "transform": {
                    "location": {
                        "x": -177.345703125,
                        "y": 4247.248046875,
                        "z": 372.9382019042969
                    },
                    "rotation": {
                        "roll": 0.002242762828245759,
                        "pitch": 0.23985573649406433,
                        "yaw": 90.76921081542969
                    }
                },
                "velocity": {
                    "x": -0.0594947412610054,
                    "y": 4.326509475708008,
                    "z": 0.016229944303631783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.650323390960693,
                "transform": {
                    "location": {
                        "x": -174.54132080078125,
                        "y": 4346.32080078125,
                        "z": 373.11932373046875
                    },
                    "rotation": {
                        "roll": -0.00042724376544356346,
                        "pitch": 0.04053033888339996,
                        "yaw": -89.57225036621094
                    }
                },
                "velocity": {
                    "x": 0.04238447546958923,
                    "y": -4.650129795074463,
                    "z": 0.0017610167851671576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.75844669342041,
                "transform": {
                    "location": {
                        "x": -222.275146484375,
                        "y": 4302.18798828125,
                        "z": 373.26129150390625
                    },
                    "rotation": {
                        "roll": -0.00918578915297985,
                        "pitch": 0.06344562023878098,
                        "yaw": -0.1882934272289276
                    }
                },
                "velocity": {
                    "x": 2.7584047317504883,
                    "y": 0.011192274279892445,
                    "z": -0.010280609130859375
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.071212291717529,
                "transform": {
                    "location": {
                        "x": -215.37413024902344,
                        "y": 4298.939453125,
                        "z": 373.2337341308594
                    },
                    "rotation": {
                        "roll": -0.0024414057843387127,
                        "pitch": 0.09054781496524811,
                        "yaw": 0.1508684605360031
                    }
                },
                "velocity": {
                    "x": 5.071181297302246,
                    "y": 0.013253907673060894,
                    "z": -0.011686705984175205
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1192102432250977,
                "transform": {
                    "location": {
                        "x": -177.47999572753906,
                        "y": 4267.68994140625,
                        "z": 373.04736328125
                    },
                    "rotation": {
                        "roll": 0.0010354365222156048,
                        "pitch": 0.24247169494628906,
                        "yaw": 90.22370147705078
                    }
                },
                "velocity": {
                    "x": -0.005468538496643305,
                    "y": 2.1191933155059814,
                    "z": 0.006481513846665621
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2208871841430664,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4326.3203125,
                        "z": 373.1177978515625
                    },
                    "rotation": {
                        "roll": 0.0015451362123712897,
                        "pitch": 0.1614929884672165,
                        "yaw": -89.97362518310547
                    }
                },
                "velocity": {
                    "x": -0.0011689510429278016,
                    "y": -2.22088623046875,
                    "z": -0.0017260836903005838
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011368695413693786,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 5.328171027940698e-06,
                    "y": -1.089579291146947e-05,
                    "z": 0.0011368048144504428
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008979742997325957,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.6862899201441905e-06,
                    "y": -4.468629867915297e-06,
                    "z": 0.0008979616104625165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.883288562297821,
                "transform": {
                    "location": {
                        "x": -174.49632263183594,
                        "y": 4315.017578125,
                        "z": 373.10565185546875
                    },
                    "rotation": {
                        "roll": -0.000366212276276201,
                        "pitch": -0.042907245457172394,
                        "yaw": -90.02008056640625
                    }
                },
                "velocity": {
                    "x": -0.0007029206026345491,
                    "y": -0.883287787437439,
                    "z": -0.0009146976517513394
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014353686710819602,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": -9.222388325724751e-05,
                    "y": -1.5834606529097073e-05,
                    "z": 0.0014323153300210834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.847082138061523,
                "transform": {
                    "location": {
                        "x": -110.52546691894531,
                        "y": 4294.91845703125,
                        "z": 372.8382263183594
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.238059401512146,
                        "yaw": 179.654052734375
                    }
                },
                "velocity": {
                    "x": -7.8468756675720215,
                    "y": 0.04739430919289589,
                    "z": 0.03144596889615059
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001413501682691276,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2230761058162898e-05,
                    "y": 1.574955058458727e-05,
                    "z": 0.0014133610529825091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0268709659576416,
                "transform": {
                    "location": {
                        "x": -201.60374450683594,
                        "y": 4302.138671875,
                        "z": 373.2150573730469
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.17852747440338135,
                        "yaw": 0.006073713768273592
                    }
                },
                "velocity": {
                    "x": 3.0268352031707764,
                    "y": -0.009830279275774956,
                    "z": -0.010977907106280327
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008369898423552513,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": 0.22198113799095154,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.1321976671752054e-05,
                    "y": -4.8688107199268416e-06,
                    "z": 0.0008368990966118872
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.243183135986328,
                "transform": {
                    "location": {
                        "x": -94.2406997680664,
                        "y": 4294.9033203125,
                        "z": 372.78277587890625
                    },
                    "rotation": {
                        "roll": -0.00869750790297985,
                        "pitch": 0.1977817714214325,
                        "yaw": -179.83570861816406
                    }
                },
                "velocity": {
                    "x": -6.243072509765625,
                    "y": -0.027271727100014687,
                    "z": 0.0251707062125206
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006564188515767455,
                "transform": {
                    "location": {
                        "x": -200.39968872070312,
                        "y": 4298.88916015625,
                        "z": 373.2130432128906
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": -0.45293712615966797,
                        "yaw": -0.2351379543542862
                    }
                },
                "velocity": {
                    "x": 0.0005744302179664373,
                    "y": -0.00018976863066200167,
                    "z": -0.00025476166047155857
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014861433301120996,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.4386102520802524e-05,
                    "y": -1.0147420653083827e-05,
                    "z": 0.0014860391383990645
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.264926433563232,
                "transform": {
                    "location": {
                        "x": -127.21694946289062,
                        "y": 4295.01513671875,
                        "z": 372.9098205566406
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.2280326783657074,
                        "yaw": 179.627197265625
                    }
                },
                "velocity": {
                    "x": -7.264716148376465,
                    "y": 0.04708682373166084,
                    "z": 0.029015397652983665
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.090411424636841,
                "transform": {
                    "location": {
                        "x": -139.8485107421875,
                        "y": 4295.08935546875,
                        "z": 372.9568176269531
                    },
                    "rotation": {
                        "roll": -0.004150389693677425,
                        "pitch": 0.23818917572498322,
                        "yaw": 178.83984375
                    }
                },
                "velocity": {
                    "x": -2.090341091156006,
                    "y": 0.015857018530368805,
                    "z": 0.00656451191753149
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005194584955461323,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0025939936749637127,
                        "pitch": 0.2057935893535614,
                        "yaw": 179.51255798339844
                    }
                },
                "velocity": {
                    "x": 3.3576413898117607e-06,
                    "y": -6.633416887780186e-06,
                    "z": -0.0005194052937440574
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03698690980672836,
        "expert_target_speed": 0.0,
        "target_point": [
            25.558684849436432,
            0.5251323740175075
        ],
        "target_point_next": [
            36.55552510280223,
            0.7879741982458123
        ]
    },
    "600": {
        "acceleration": [
            -0.15438809990882874,
            0.0016953609883785248,
            -0.01030120812356472
        ],
        "angular_velocity": [
            -0.0069220829755067825,
            0.5982639193534851,
            -0.017383871600031853
        ],
        "forward_vector": [
            -0.9995547533035278,
            0.02980160526931286,
            0.0014723532367497683
        ],
        "right_vector": [
            -0.0298016220331192,
            -0.9995558261871338,
            9.587365639163181e-06
        ],
        "location": [
            -160.77452087402344,
            4291.97998046875,
            373.0362548828125
        ],
        "rotation": [
            -0.0005493161734193563,
            0.08435966074466705,
            178.292236328125
        ],
        "velocity": [
            -0.04432031884789467,
            0.0015164396027103066,
            0.0014197540003806353
        ],
        "speed": 0.04434625409037065,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.75030517578125,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.5844963854760863e-05,
                -6.4016039686976e-06,
                0.0009332457557320595
            ],
            "speed_kmh": 0.00336024795286042,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.1024909019470215,
                "transform": {
                    "location": {
                        "x": -177.36187744140625,
                        "y": 4248.42822265625,
                        "z": 372.9429626464844
                    },
                    "rotation": {
                        "roll": 0.0017984227742999792,
                        "pitch": 0.23736955225467682,
                        "yaw": 90.77852630615234
                    }
                },
                "velocity": {
                    "x": -0.07049063593149185,
                    "y": 5.10195779800415,
                    "z": 0.02171621285378933
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.219437122344971,
                "transform": {
                    "location": {
                        "x": -174.5302276611328,
                        "y": 4345.0634765625,
                        "z": 373.12017822265625
                    },
                    "rotation": {
                        "roll": -0.0007019037147983909,
                        "pitch": 0.03141886740922928,
                        "yaw": -89.51780700683594
                    }
                },
                "velocity": {
                    "x": 0.04786248505115509,
                    "y": -5.219217300415039,
                    "z": 0.0024855993688106537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.772852897644043,
                "transform": {
                    "location": {
                        "x": -221.3184356689453,
                        "y": 4302.19091796875,
                        "z": 373.2565612792969
                    },
                    "rotation": {
                        "roll": -0.011627196334302425,
                        "pitch": 0.21206369996070862,
                        "yaw": -0.008575438521802425
                    }
                },
                "velocity": {
                    "x": 4.772767543792725,
                    "y": 0.022372877225279808,
                    "z": -0.01775730960071087
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.630842208862305,
                "transform": {
                    "location": {
                        "x": -214.00250244140625,
                        "y": 4298.94287109375,
                        "z": 373.2285461425781
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.060515474528074265,
                        "yaw": 0.12120050936937332
                    }
                },
                "velocity": {
                    "x": 5.630786418914795,
                    "y": 0.012549824081361294,
                    "z": -0.021674474701285362
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.15279698371887207,
                "transform": {
                    "location": {
                        "x": -177.48046875,
                        "y": 4268.13671875,
                        "z": 373.05035400390625
                    },
                    "rotation": {
                        "roll": -0.0011596684344112873,
                        "pitch": 0.04945739731192589,
                        "yaw": 90.35875701904297
                    }
                },
                "velocity": {
                    "x": 0.0007088660495355725,
                    "y": 0.15278983116149902,
                    "z": 0.0012967967195436358
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4039754271507263,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4326.05908203125,
                        "z": 373.1201477050781
                    },
                    "rotation": {
                        "roll": -0.002502455608919263,
                        "pitch": -0.5084187388420105,
                        "yaw": -89.96407318115234
                    }
                },
                "velocity": {
                    "x": -0.0002781290968414396,
                    "y": -0.4039720296859741,
                    "z": -0.0016313170781359076
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012667886912822723,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.2882388546131551e-05,
                    "y": 1.5754658306832425e-05,
                    "z": 0.0012666252441704273
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000968902138993144,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 7.978789653861895e-06,
                    "y": 4.442431873030728e-06,
                    "z": 0.000968859123531729
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5911699533462524,
                "transform": {
                    "location": {
                        "x": -174.49710083007812,
                        "y": 4314.703125,
                        "z": 373.105224609375
                    },
                    "rotation": {
                        "roll": -0.00015258872008416802,
                        "pitch": -0.044737737625837326,
                        "yaw": -89.93706512451172
                    }
                },
                "velocity": {
                    "x": 3.893678695021663e-06,
                    "y": -1.591168999671936,
                    "z": -0.0017227171920239925
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017777209868654609,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": 1.829480243031867e-05,
                    "y": 9.525567179480277e-08,
                    "z": 0.0017776268068701029
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.390588760375977,
                "transform": {
                    "location": {
                        "x": -112.40101623535156,
                        "y": 4294.9306640625,
                        "z": 372.8459167480469
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.20491932332515717,
                        "yaw": 179.65731811523438
                    }
                },
                "velocity": {
                    "x": -7.390398979187012,
                    "y": 0.04410340264439583,
                    "z": 0.029354551807045937
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009334022179245949,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.5844963854760863e-05,
                    "y": -6.4016039686976e-06,
                    "z": 0.0009332457557320595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.4614441692829132,
                "transform": {
                    "location": {
                        "x": -201.0563201904297,
                        "y": 4302.13720703125,
                        "z": 373.21490478515625
                    },
                    "rotation": {
                        "roll": -0.002960204379633069,
                        "pitch": -0.3918752372264862,
                        "yaw": -0.0508422777056694
                    }
                },
                "velocity": {
                    "x": 0.4614372253417969,
                    "y": -0.00049355294322595,
                    "z": -0.002480363706126809
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010499715572223067,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00017162073345389217,
                        "pitch": 0.2216532826423645,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.732673445076216e-05,
                    "y": -4.582728706736816e-06,
                    "z": 0.0010498185874894261
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.357847213745117,
                "transform": {
                    "location": {
                        "x": -95.70429229736328,
                        "y": 4294.8955078125,
                        "z": 372.78857421875
                    },
                    "rotation": {
                        "roll": -0.004272460471838713,
                        "pitch": 0.12142026424407959,
                        "yaw": -179.7163848876953
                    }
                },
                "velocity": {
                    "x": -5.3577189445495605,
                    "y": -0.03036339022219181,
                    "z": 0.02126200683414936
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008499483810737729,
                "transform": {
                    "location": {
                        "x": -200.39859008789062,
                        "y": 4298.88916015625,
                        "z": 373.2116394042969
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": -0.293240487575531,
                        "yaw": -0.2351989895105362
                    }
                },
                "velocity": {
                    "x": -0.0006686802953481674,
                    "y": 0.00011036256910301745,
                    "z": -0.0005129317287355661
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008032235782593489,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 9.179561857308727e-06,
                    "y": -7.48570869291143e-07,
                    "z": 0.0008031707839109004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.515659332275391,
                "transform": {
                    "location": {
                        "x": -128.77999877929688,
                        "y": 4295.025390625,
                        "z": 372.91644287109375
                    },
                    "rotation": {
                        "roll": 0.00020555428636725992,
                        "pitch": 0.1734594702720642,
                        "yaw": 179.62522888183594
                    }
                },
                "velocity": {
                    "x": -4.515543460845947,
                    "y": 0.0294511578977108,
                    "z": 0.013315257616341114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.3312225043773651,
                "transform": {
                    "location": {
                        "x": -140.13296508789062,
                        "y": 4295.09326171875,
                        "z": 372.9584655761719
                    },
                    "rotation": {
                        "roll": -3.0517636332660913e-05,
                        "pitch": 0.16580283641815186,
                        "yaw": 178.9869384765625
                    }
                },
                "velocity": {
                    "x": -0.33119744062423706,
                    "y": 0.003478419501334429,
                    "z": 0.002121562836691737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.103016054723412e-05,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": 0.20595067739486694,
                        "yaw": 179.51255798339844
                    }
                },
                "velocity": {
                    "x": 1.0120384104084224e-05,
                    "y": 1.2788383173756301e-05,
                    "z": -8.955738303484395e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.034130025655031204,
        "expert_target_speed": 0.0,
        "target_point": [
            25.546290475241815,
            0.5237506743197895
        ],
        "target_point_next": [
            36.543141122613136,
            0.7861572710717359
        ]
    },
    "605": {
        "acceleration": [
            0.21556802093982697,
            -0.004654797725379467,
            -0.007378768641501665
        ],
        "angular_velocity": [
            0.008128920570015907,
            0.13721679151058197,
            0.01648511178791523
        ],
        "forward_vector": [
            -0.9995518922805786,
            0.029800325632095337,
            0.0028208456933498383
        ],
        "right_vector": [
            -0.02980026975274086,
            -0.9995558857917786,
            6.231770385056734e-05
        ],
        "location": [
            -160.78382873535156,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.0035705557093024254,
            0.1616227626800537,
            178.2923126220703
        ],
        "velocity": [
            -0.025476817041635513,
            0.0007502871449105442,
            0.0014375686878338456
        ],
        "speed": 0.025487862550099955,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.740997314453125,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3461857633956242e-05,
                1.534112925583031e-05,
                0.0016707192407920957
            ],
            "speed_kmh": 0.006015038056421829,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.5994977951049805,
                "transform": {
                    "location": {
                        "x": -177.3798370361328,
                        "y": 4249.75341796875,
                        "z": 372.9479675292969
                    },
                    "rotation": {
                        "roll": 0.0024165185168385506,
                        "pitch": 0.22665297985076904,
                        "yaw": 90.78202056884766
                    }
                },
                "velocity": {
                    "x": -0.0768127515912056,
                    "y": 5.598934173583984,
                    "z": 0.020308131352066994
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.094448566436768,
                "transform": {
                    "location": {
                        "x": -174.51780700683594,
                        "y": 4343.66650390625,
                        "z": 373.12042236328125
                    },
                    "rotation": {
                        "roll": 0.0006324162241071463,
                        "pitch": 0.03339279443025589,
                        "yaw": -89.50753784179688
                    }
                },
                "velocity": {
                    "x": 0.042611125856637955,
                    "y": -6.09429931640625,
                    "z": 0.0017947482410818338
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.683055877685547,
                "transform": {
                    "location": {
                        "x": -219.9942169189453,
                        "y": 4302.19580078125,
                        "z": 373.2532043457031
                    },
                    "rotation": {
                        "roll": -0.007873534224927425,
                        "pitch": 0.03562626615166664,
                        "yaw": 0.16653014719486237
                    }
                },
                "velocity": {
                    "x": 5.682938098907471,
                    "y": 0.029701923951506615,
                    "z": -0.021515559405088425
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.515411615371704,
                "transform": {
                    "location": {
                        "x": -212.689208984375,
                        "y": 4298.94287109375,
                        "z": 373.22320556640625
                    },
                    "rotation": {
                        "roll": 0.0048808204010128975,
                        "pitch": -0.4864460527896881,
                        "yaw": 0.15790723264217377
                    }
                },
                "velocity": {
                    "x": 3.515366554260254,
                    "y": -0.007503584958612919,
                    "z": -0.016119593754410744
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9758595824241638,
                "transform": {
                    "location": {
                        "x": -177.4805450439453,
                        "y": 4268.26416015625,
                        "z": 373.0497131347656
                    },
                    "rotation": {
                        "roll": 0.0012826804304495454,
                        "pitch": 0.17054980993270874,
                        "yaw": 90.34476470947266
                    }
                },
                "velocity": {
                    "x": -0.0028825008776038885,
                    "y": 0.975853681564331,
                    "z": 0.0018123149638995528
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4214476346969604,
                "transform": {
                    "location": {
                        "x": -174.48577880859375,
                        "y": 4325.81689453125,
                        "z": 373.1179504394531
                    },
                    "rotation": {
                        "roll": 0.0008292460115626454,
                        "pitch": 0.021808791905641556,
                        "yaw": -89.9539794921875
                    }
                },
                "velocity": {
                    "x": 0.0006368124159052968,
                    "y": -1.4214469194412231,
                    "z": -0.0013183116680011153
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009938515722751617,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 9.849294656305574e-06,
                    "y": 1.1698359230649658e-05,
                    "z": 0.0009937338763847947
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015953052788972855,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 5.949847491137916e-06,
                    "y": 8.740433088405553e-08,
                    "z": 0.00159529410302639
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0515575408935547,
                "transform": {
                    "location": {
                        "x": -174.49710083007812,
                        "y": 4314.2509765625,
                        "z": 373.1047668457031
                    },
                    "rotation": {
                        "roll": -0.00039672976708970964,
                        "pitch": -0.05419754981994629,
                        "yaw": -89.93783569335938
                    }
                },
                "velocity": {
                    "x": -0.0008754740701988339,
                    "y": -2.05155611038208,
                    "z": -0.002245416631922126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012219527270644903,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": 2.322089312656317e-05,
                    "y": -2.44325401581591e-05,
                    "z": 0.0012214877642691135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.5563154220581055,
                "transform": {
                    "location": {
                        "x": -114.2973403930664,
                        "y": 4294.94189453125,
                        "z": 372.8532409667969
                    },
                    "rotation": {
                        "roll": -0.00015258780331350863,
                        "pitch": 0.23277966678142548,
                        "yaw": 179.65850830078125
                    }
                },
                "velocity": {
                    "x": -7.556122779846191,
                    "y": 0.045053593814373016,
                    "z": 0.02975139580667019
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0016708439216017723,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3461857633956242e-05,
                    "y": 1.534112925583031e-05,
                    "z": 0.0016707192407920957
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008921577828004956,
                "transform": {
                    "location": {
                        "x": -201.05328369140625,
                        "y": 4302.1376953125,
                        "z": 373.21435546875
                    },
                    "rotation": {
                        "roll": -0.001708984375,
                        "pitch": -0.32668793201446533,
                        "yaw": -0.08111572265625
                    }
                },
                "velocity": {
                    "x": -0.0008772750152274966,
                    "y": 0.00016214718925766647,
                    "z": 6.504889825009741e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012160366168245673,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0004898554179817438,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": 1.5502198948524892e-05,
                    "y": -3.9994540657062316e-07,
                    "z": 0.0012159377802163363
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.402522087097168,
                "transform": {
                    "location": {
                        "x": -97.02179718017578,
                        "y": 4294.8916015625,
                        "z": 372.79400634765625
                    },
                    "rotation": {
                        "roll": 0.006499511655420065,
                        "pitch": 0.20765140652656555,
                        "yaw": -179.81866455078125
                    }
                },
                "velocity": {
                    "x": -5.402469158172607,
                    "y": -0.008447812870144844,
                    "z": 0.022383717820048332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003988542011938989,
                "transform": {
                    "location": {
                        "x": -200.398193359375,
                        "y": 4298.88916015625,
                        "z": 373.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.23342853784561157,
                        "yaw": -0.23519901931285858
                    }
                },
                "velocity": {
                    "x": -0.00018279632786288857,
                    "y": -0.0002699312171898782,
                    "z": 0.00022979841742198914
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012915224069729447,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 8.509345207130536e-06,
                    "y": -2.344697350054048e-05,
                    "z": 0.0012912815436720848
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007598389056511223,
                "transform": {
                    "location": {
                        "x": -129.23304748535156,
                        "y": 4295.02783203125,
                        "z": 372.91845703125
                    },
                    "rotation": {
                        "roll": -9.1552734375e-05,
                        "pitch": 0.11458324640989304,
                        "yaw": 179.59249877929688
                    }
                },
                "velocity": {
                    "x": 6.635371391894296e-05,
                    "y": 2.6151453766942723e-06,
                    "z": 0.0007569316658191383
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9420379400253296,
                "transform": {
                    "location": {
                        "x": -140.30499267578125,
                        "y": 4295.09521484375,
                        "z": 372.9586486816406
                    },
                    "rotation": {
                        "roll": -0.0025634760968387127,
                        "pitch": 0.22292369604110718,
                        "yaw": 179.0353240966797
                    }
                },
                "velocity": {
                    "x": -0.9420115947723389,
                    "y": 0.006778588518500328,
                    "z": 0.0019064616644755006
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006781402626074851,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": 0.20595067739486694,
                        "yaw": 179.51255798339844
                    }
                },
                "velocity": {
                    "x": 7.341429295593116e-07,
                    "y": -5.619601324724499e-06,
                    "z": -0.0006781165720894933
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.028637638315558434,
        "expert_target_speed": 0.0,
        "target_point": [
            25.536987247262473,
            0.5234489345845513
        ],
        "target_point_next": [
            36.53383814487922,
            0.7858450439223547
        ]
    },
    "610": {
        "acceleration": [
            -0.22343845665454865,
            0.006121023558080196,
            0.002585219917818904
        ],
        "angular_velocity": [
            -0.00978090614080429,
            0.08618975430727005,
            0.01858474873006344
        ],
        "forward_vector": [
            -0.9995502829551697,
            0.029810534790158272,
            0.003260249039158225
        ],
        "right_vector": [
            -0.02981039509177208,
            -0.9995555877685547,
            9.161222988041118e-05
        ],
        "location": [
            -160.79054260253906,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.005249022040516138,
            0.1867988407611847,
            178.29171752929688
        ],
        "velocity": [
            -0.02668767422437668,
            0.0008589241188019514,
            0.0010506438557058573
        ],
        "speed": 0.02670149258278119,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.734283447265625,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1273734344285913e-05,
                1.1921284567506518e-05,
                0.0008920648251660168
            ],
            "speed_kmh": 0.0032119765423609874,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.28460693359375,
                "transform": {
                    "location": {
                        "x": -177.39749145507812,
                        "y": 4251.25634765625,
                        "z": 372.9535827636719
                    },
                    "rotation": {
                        "roll": 0.003751629265025258,
                        "pitch": 0.22136642038822174,
                        "yaw": 90.64508056640625
                    }
                },
                "velocity": {
                    "x": -0.05711626261472702,
                    "y": 6.28430700302124,
                    "z": 0.022522516548633575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.86073637008667,
                "transform": {
                    "location": {
                        "x": -174.50851440429688,
                        "y": 4342.08447265625,
                        "z": 373.1207275390625
                    },
                    "rotation": {
                        "roll": 0.0007038963958621025,
                        "pitch": 0.03636392578482628,
                        "yaw": -89.61742401123047
                    }
                },
                "velocity": {
                    "x": 0.032818954437971115,
                    "y": -6.860657691955566,
                    "z": 0.001634302083402872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.621591567993164,
                "transform": {
                    "location": {
                        "x": -218.33929443359375,
                        "y": 4302.20263671875,
                        "z": 373.2459716796875
                    },
                    "rotation": {
                        "roll": 0.010156042873859406,
                        "pitch": 0.12367422878742218,
                        "yaw": 0.25905564427375793
                    }
                },
                "velocity": {
                    "x": 7.621513366699219,
                    "y": 0.017062513157725334,
                    "z": -0.030053487047553062
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5337640047073364,
                "transform": {
                    "location": {
                        "x": -212.4578094482422,
                        "y": 4298.94189453125,
                        "z": 373.22216796875
                    },
                    "rotation": {
                        "roll": -0.006896972190588713,
                        "pitch": -0.8015090227127075,
                        "yaw": 0.19011972844600677
                    }
                },
                "velocity": {
                    "x": 0.5337579846382141,
                    "y": 0.0005762811051681638,
                    "z": -0.00247160904109478
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8094168901443481,
                "transform": {
                    "location": {
                        "x": -177.48179626464844,
                        "y": 4268.61865234375,
                        "z": 373.0500793457031
                    },
                    "rotation": {
                        "roll": 0.0016598704969510436,
                        "pitch": 0.24033385515213013,
                        "yaw": 90.32960510253906
                    }
                },
                "velocity": {
                    "x": -0.005582923069596291,
                    "y": 1.809402585029602,
                    "z": 0.0045669362880289555
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.194582223892212,
                "transform": {
                    "location": {
                        "x": -174.48562622070312,
                        "y": 4325.35498046875,
                        "z": 373.1168518066406
                    },
                    "rotation": {
                        "roll": 0.0014887265861034393,
                        "pitch": 0.23254060745239258,
                        "yaw": -89.99071502685547
                    }
                },
                "velocity": {
                    "x": -0.0017485832795500755,
                    "y": -2.1945807933807373,
                    "z": -0.0018032168736681342
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013371692039072514,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.648269608267583e-05,
                    "y": 6.711356036248617e-06,
                    "z": 0.0013370508095249534
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012283362448215485,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 9.837075594987255e-06,
                    "y": 1.5345845895353705e-05,
                    "z": 0.0012282009702175856
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6177003383636475,
                "transform": {
                    "location": {
                        "x": -174.50523376464844,
                        "y": 4313.66455078125,
                        "z": 373.10400390625
                    },
                    "rotation": {
                        "roll": 0.013887631706893444,
                        "pitch": -0.05399264395236969,
                        "yaw": -90.3107681274414
                    }
                },
                "velocity": {
                    "x": -0.11785827577114105,
                    "y": -2.615044593811035,
                    "z": -0.0024370860774070024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012815846130251884,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": -4.6438563003903255e-05,
                    "y": -4.7031790018081665e-06,
                    "z": 0.0012807343155145645
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.293815612792969,
                "transform": {
                    "location": {
                        "x": -116.0390625,
                        "y": 4294.95263671875,
                        "z": 372.8606262207031
                    },
                    "rotation": {
                        "roll": 0.00029860890936106443,
                        "pitch": 0.16085778176784515,
                        "yaw": 179.6610870361328
                    }
                },
                "velocity": {
                    "x": -6.293657302856445,
                    "y": 0.037078067660331726,
                    "z": 0.024945782497525215
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008922156994231045,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1273734344285913e-05,
                    "y": 1.1921284567506518e-05,
                    "z": 0.0008920648251660168
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005008013104088604,
                "transform": {
                    "location": {
                        "x": -201.052734375,
                        "y": 4302.13818359375,
                        "z": 373.213623046875
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": -0.24190479516983032,
                        "yaw": -0.081146240234375
                    }
                },
                "velocity": {
                    "x": -0.00014544710575137287,
                    "y": 6.628011033171788e-05,
                    "z": 0.00047460937639698386
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012940868036821485,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889099121094
                    },
                    "rotation": {
                        "roll": 0.0004898554179817438,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": 1.701313885860145e-05,
                    "y": -2.1480684154084884e-05,
                    "z": 0.0012937966967001557
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.744139671325684,
                "transform": {
                    "location": {
                        "x": -98.46062469482422,
                        "y": 4294.89013671875,
                        "z": 372.80010986328125
                    },
                    "rotation": {
                        "roll": 0.00466895941644907,
                        "pitch": 0.4041217863559723,
                        "yaw": -179.92266845703125
                    }
                },
                "velocity": {
                    "x": -6.744087219238281,
                    "y": -0.0036437376402318478,
                    "z": 0.02632019855082035
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.666635843226686e-05,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.2109680175781
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.2146318554878235,
                        "yaw": -0.2351989895105362
                    }
                },
                "velocity": {
                    "x": -2.3731254259473644e-05,
                    "y": 3.60037010977976e-05,
                    "z": 3.67646171071101e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011762524954974651,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.4932751582819037e-05,
                    "y": -2.300130290677771e-06,
                    "z": 0.0011761555215343833
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7701813578605652,
                "transform": {
                    "location": {
                        "x": -129.33937072753906,
                        "y": 4295.02880859375,
                        "z": 372.9182434082031
                    },
                    "rotation": {
                        "roll": -0.0012512208195403218,
                        "pitch": 0.21724781394004822,
                        "yaw": 179.6373748779297
                    }
                },
                "velocity": {
                    "x": -0.7701672911643982,
                    "y": 0.004102049395442009,
                    "z": 0.0022124480456113815
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008205300546251237,
                "transform": {
                    "location": {
                        "x": -140.3258514404297,
                        "y": 4295.09521484375,
                        "z": 372.9588928222656
                    },
                    "rotation": {
                        "roll": -0.001708984375,
                        "pitch": 0.2030000388622284,
                        "yaw": 179.02056884765625
                    }
                },
                "velocity": {
                    "x": 3.702863978105597e-05,
                    "y": 0.00013187559670768678,
                    "z": -0.0008090162300504744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002870152238756418,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": 0.20595067739486694,
                        "yaw": 179.51255798339844
                    }
                },
                "velocity": {
                    "x": 5.192682237975532e-06,
                    "y": -6.611111530219205e-06,
                    "z": -0.0002868920855689794
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02968362532556057,
        "expert_target_speed": 0.0,
        "target_point": [
            25.53027112101042,
            0.5235045088947333
        ],
        "target_point_next": [
            36.52711939055131,
            0.7860107360691347
        ]
    },
    "615": {
        "acceleration": [
            0.24783340096473694,
            -0.005084241274744272,
            -0.0045680999755859375
        ],
        "angular_velocity": [
            0.03702353313565254,
            -0.016210485249757767,
            0.005039393436163664
        ],
        "forward_vector": [
            -0.9995504021644592,
            0.029784779995679855,
            0.003427498508244753
        ],
        "right_vector": [
            -0.02978474274277687,
            -0.999556303024292,
            6.178495823405683e-05
        ],
        "location": [
            -160.79592895507812,
            4291.97998046875,
            373.035888671875
        ],
        "rotation": [
            -0.003540038364008069,
            0.1963815838098526,
            178.29319763183594
        ],
        "velocity": [
            -0.016415340825915337,
            0.0005181857850402594,
            0.0011777877807617188
        ],
        "speed": 0.016423517617696295,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.72889709472656,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.353627890755888e-06,
                5.6538692660978995e-06,
                0.00018900656141340733
            ],
            "speed_kmh": 0.0006813919397361576,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.477712631225586,
                "transform": {
                    "location": {
                        "x": -177.4128875732422,
                        "y": 4253.0,
                        "z": 372.9598388671875
                    },
                    "rotation": {
                        "roll": 0.002330060815438628,
                        "pitch": 0.23288895189762115,
                        "yaw": 90.50732421875
                    }
                },
                "velocity": {
                    "x": -0.05935519561171532,
                    "y": 7.477433204650879,
                    "z": 0.025606688112020493
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.7325568199157715,
                "transform": {
                    "location": {
                        "x": -174.4996795654297,
                        "y": 4340.2451171875,
                        "z": 373.1210021972656
                    },
                    "rotation": {
                        "roll": 0.0007821459439583123,
                        "pitch": 0.025340000167489052,
                        "yaw": -89.73174285888672
                    }
                },
                "velocity": {
                    "x": 0.030629366636276245,
                    "y": -7.7324957847595215,
                    "z": 0.0018959330627694726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.699116230010986,
                "transform": {
                    "location": {
                        "x": -216.65928649902344,
                        "y": 4302.21875,
                        "z": 373.2447814941406
                    },
                    "rotation": {
                        "roll": 0.007498577702790499,
                        "pitch": -0.5445846319198608,
                        "yaw": -1.1542969942092896
                    }
                },
                "velocity": {
                    "x": 4.6987128257751465,
                    "y": 0.058138176798820496,
                    "z": -0.02031746320426464
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.1905078887939453,
                "transform": {
                    "location": {
                        "x": -212.08663940429688,
                        "y": 4298.94189453125,
                        "z": 373.2209777832031
                    },
                    "rotation": {
                        "roll": 0.001446681097149849,
                        "pitch": -0.09450932592153549,
                        "yaw": 0.07860641181468964
                    }
                },
                "velocity": {
                    "x": 2.1904942989349365,
                    "y": -0.001836328417994082,
                    "z": -0.007482022978365421
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1203556060791016,
                "transform": {
                    "location": {
                        "x": -177.48483276367188,
                        "y": 4269.115234375,
                        "z": 373.0522155761719
                    },
                    "rotation": {
                        "roll": 0.0013032772112637758,
                        "pitch": 0.16037283837795258,
                        "yaw": 90.19477081298828
                    }
                },
                "velocity": {
                    "x": -0.004256939049810171,
                    "y": 1.12034273147583,
                    "z": 0.0032649897038936615
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.012318514287471771,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4324.98779296875,
                        "z": 373.1192626953125
                    },
                    "rotation": {
                        "roll": 0.0005238878075033426,
                        "pitch": -0.4704565703868866,
                        "yaw": -90.03327178955078
                    }
                },
                "velocity": {
                    "x": 0.00032767339143902063,
                    "y": -0.012275101616978645,
                    "z": -0.000979954726062715
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005736395251005888,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.4617405213357415e-05,
                    "y": -2.2960877686273307e-05,
                    "z": 0.0005729934200644493
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010495473397895694,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 3.74875952502407e-07,
                    "y": -1.612037704035174e-05,
                    "z": 0.0010494234738871455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1897788047790527,
                "transform": {
                    "location": {
                        "x": -174.53265380859375,
                        "y": 4312.9384765625,
                        "z": 373.1031188964844
                    },
                    "rotation": {
                        "roll": 0.008535033091902733,
                        "pitch": -0.052551474422216415,
                        "yaw": -91.20111083984375
                    }
                },
                "velocity": {
                    "x": -0.16429707407951355,
                    "y": -3.1855435371398926,
                    "z": -0.0026643085293471813
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001602201838977635,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": -5.0938793719979e-05,
                    "y": 9.383894393977243e-06,
                    "z": 0.0016013644635677338
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.006457122974097729,
                "transform": {
                    "location": {
                        "x": -116.8050765991211,
                        "y": 4294.95654296875,
                        "z": 372.86541748046875
                    },
                    "rotation": {
                        "roll": 0.0007421505870297551,
                        "pitch": -0.10293777287006378,
                        "yaw": 179.64024353027344
                    }
                },
                "velocity": {
                    "x": -0.005400886293500662,
                    "y": 1.6392916222685017e-05,
                    "z": -0.0035390101838856936
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00018927553901448846,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.353627890755888e-06,
                    "y": 5.6538692660978995e-06,
                    "z": 0.00018900656141340733
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015046403859741986,
                "transform": {
                    "location": {
                        "x": -201.0525665283203,
                        "y": 4302.1376953125,
                        "z": 373.21337890625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.21746638417243958,
                        "yaw": -0.081146240234375
                    }
                },
                "velocity": {
                    "x": -5.520474223885685e-05,
                    "y": 4.133671609451994e-05,
                    "z": 0.00013372785178944468
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.739178595831618e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00010894153092522174,
                        "pitch": 0.22204944491386414,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -7.559731329820352e-07,
                    "y": 4.795174390892498e-05,
                    "z": -3.1525796657660976e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.117626190185547,
                "transform": {
                    "location": {
                        "x": -100.3739013671875,
                        "y": 4294.89013671875,
                        "z": 372.8078308105469
                    },
                    "rotation": {
                        "roll": 0.004143448546528816,
                        "pitch": 0.44520536065101624,
                        "yaw": -179.9618377685547
                    }
                },
                "velocity": {
                    "x": -8.117557525634766,
                    "y": -0.0011987292673438787,
                    "z": 0.03337975591421127
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002808321441989392,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.2109375
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": -0.21301309764385223,
                        "yaw": -0.2352294921875
                    }
                },
                "velocity": {
                    "x": -9.170547059511591e-07,
                    "y": -1.1074032045144122e-05,
                    "z": 0.00028061220655217767
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001536016003228724,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 5.667321147484472e-06,
                    "y": -8.77959064382594e-06,
                    "z": 0.0015359804965555668
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.52475106716156,
                "transform": {
                    "location": {
                        "x": -129.63218688964844,
                        "y": 4295.03076171875,
                        "z": 372.91900634765625
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.2417067140340805,
                        "yaw": 179.5977020263672
                    }
                },
                "velocity": {
                    "x": -1.5247007608413696,
                    "y": 0.01103395689278841,
                    "z": 0.00561148626729846
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002659797901287675,
                "transform": {
                    "location": {
                        "x": -140.325927734375,
                        "y": 4295.09521484375,
                        "z": 372.9587707519531
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": 0.2137439250946045,
                        "yaw": 179.0205841064453
                    }
                },
                "velocity": {
                    "x": 1.2314542800595518e-05,
                    "y": -0.0001471928262617439,
                    "z": 0.00022119646018836647
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007711153593845665,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": 0.20595067739486694,
                        "yaw": 179.51255798339844
                    }
                },
                "velocity": {
                    "x": 2.0861998564214446e-06,
                    "y": -2.345423672522884e-05,
                    "z": -0.0007707557524554431
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.031376276165246964,
        "expert_target_speed": 0.0,
        "target_point": [
            25.524900629533153,
            0.5226866943915894
        ],
        "target_point_next": [
            36.52175565475554,
            0.7849097613615843
        ]
    },
    "620": {
        "acceleration": [
            -0.16801735758781433,
            -0.0022044323850423098,
            -0.0011901860125362873
        ],
        "angular_velocity": [
            0.004829073324799538,
            0.045656632632017136,
            0.002378162695094943
        ],
        "forward_vector": [
            -0.999550998210907,
            0.029761897400021553,
            0.0034713672939687967
        ],
        "right_vector": [
            -0.02976175583899021,
            -0.9995570182800293,
            9.214482270181179e-05
        ],
        "location": [
            -160.8008575439453,
            4291.97998046875,
            373.035888671875
        ],
        "rotation": [
            -0.005279541015625,
            0.19889509677886963,
            178.2945098876953
        ],
        "velocity": [
            -0.02146424911916256,
            0.0005528123001568019,
            0.0013584899716079235
        ],
        "speed": 0.02147136678669235,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.723968505859375,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0606310752336867e-05,
                4.279623226466356e-06,
                0.0010297721019014716
            ],
            "speed_kmh": 0.003707408208642628,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.332756996154785,
                "transform": {
                    "location": {
                        "x": -177.42835998535156,
                        "y": 4254.90625,
                        "z": 372.9668273925781
                    },
                    "rotation": {
                        "roll": 0.0012567566009238362,
                        "pitch": 0.211114302277565,
                        "yaw": 90.44158935546875
                    }
                },
                "velocity": {
                    "x": -0.05480865761637688,
                    "y": 7.332502841949463,
                    "z": 0.026936320587992668
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.724746227264404,
                "transform": {
                    "location": {
                        "x": -174.4922637939453,
                        "y": 4338.40478515625,
                        "z": 373.1214294433594
                    },
                    "rotation": {
                        "roll": 0.000657416123431176,
                        "pitch": -0.01434339676052332,
                        "yaw": -89.79070281982422
                    }
                },
                "velocity": {
                    "x": 0.019964076578617096,
                    "y": -6.724716663360596,
                    "z": 0.001544733066111803
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005461852066218853,
                "transform": {
                    "location": {
                        "x": -216.26890563964844,
                        "y": 4302.24169921875,
                        "z": 373.25146484375
                    },
                    "rotation": {
                        "roll": 0.13942869007587433,
                        "pitch": -1.5808062553405762,
                        "yaw": -2.282196521759033
                    }
                },
                "velocity": {
                    "x": -0.002921895356848836,
                    "y": 0.004438511561602354,
                    "z": -0.0012625247472897172
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9280205965042114,
                "transform": {
                    "location": {
                        "x": -211.49757385253906,
                        "y": 4298.94189453125,
                        "z": 373.21881103515625
                    },
                    "rotation": {
                        "roll": -0.0016479488695040345,
                        "pitch": -0.20501494407653809,
                        "yaw": 0.15727859735488892
                    }
                },
                "velocity": {
                    "x": 1.9279983043670654,
                    "y": -0.004519710782915354,
                    "z": -0.008099021390080452
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0020439547952264547,
                "transform": {
                    "location": {
                        "x": -177.48538208007812,
                        "y": 4269.134765625,
                        "z": 373.05303955078125
                    },
                    "rotation": {
                        "roll": 0.0007421965128742158,
                        "pitch": 0.06651237607002258,
                        "yaw": 90.1594467163086
                    }
                },
                "velocity": {
                    "x": -2.5359884602949023e-05,
                    "y": -0.0007244327571243048,
                    "z": 0.0019111006986349821
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2526618242263794,
                "transform": {
                    "location": {
                        "x": -174.48562622070312,
                        "y": 4324.79248046875,
                        "z": 373.1175842285156
                    },
                    "rotation": {
                        "roll": 0.0010820586467161775,
                        "pitch": -0.05859619006514549,
                        "yaw": -89.99149322509766
                    }
                },
                "velocity": {
                    "x": -0.002216890687122941,
                    "y": -1.2526581287384033,
                    "z": -0.002086973050609231
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016178279183804989,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.5429519407916814e-05,
                    "y": 3.2890563943510642e-06,
                    "z": 0.0016177509678527713
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014641400193795562,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.4938823369448073e-05,
                    "y": -2.151437547581736e-05,
                    "z": 0.0014639057917520404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9366681575775146,
                "transform": {
                    "location": {
                        "x": -174.57241821289062,
                        "y": 4312.04931640625,
                        "z": 373.10211181640625
                    },
                    "rotation": {
                        "roll": 0.006166602019220591,
                        "pitch": -0.047695208340883255,
                        "yaw": -91.987548828125
                    }
                },
                "velocity": {
                    "x": -0.214101180434227,
                    "y": -3.930837631225586,
                    "z": -0.005601758603006601
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001621857169084251,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": 1.7982343706535175e-05,
                    "y": -1.1346712199156173e-05,
                    "z": 0.001621717819944024
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.300128698348999,
                "transform": {
                    "location": {
                        "x": -116.97874450683594,
                        "y": 4294.958984375,
                        "z": 372.8642578125
                    },
                    "rotation": {
                        "roll": 0.00200595217756927,
                        "pitch": 0.18733841180801392,
                        "yaw": 179.77484130859375
                    }
                },
                "velocity": {
                    "x": -1.300074577331543,
                    "y": 0.009686612524092197,
                    "z": 0.006847677286714315
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010298356646671891,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0606310752336867e-05,
                    "y": 4.279623226466356e-06,
                    "z": 0.0010297721019014716
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.4989036319311708e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": -0.21405129134655,
                        "yaw": -0.0811462476849556
                    }
                },
                "velocity": {
                    "x": 8.440873898507562e-06,
                    "y": -1.7584894521860406e-05,
                    "z": 1.5619700207025744e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.7679154552752152e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00010894153092522174,
                        "pitch": 0.22204944491386414,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 7.2785464908520225e-06,
                    "y": 5.157859277460375e-07,
                    "z": 1.6103082089102827e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.358182430267334,
                "transform": {
                    "location": {
                        "x": -102.32984161376953,
                        "y": 4294.8916015625,
                        "z": 372.8154296875
                    },
                    "rotation": {
                        "roll": 0.0070844851434230804,
                        "pitch": 0.1943666785955429,
                        "yaw": 179.9108428955078
                    }
                },
                "velocity": {
                    "x": -7.3581061363220215,
                    "y": 0.01474390272051096,
                    "z": 0.030087880790233612
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0679247679945547e-05,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": -0.20959118008613586,
                        "yaw": -0.2352295070886612
                    }
                },
                "velocity": {
                    "x": 7.67305482440861e-06,
                    "y": 8.022339557101077e-07,
                    "z": 7.384238415397704e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001324326847679913,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.0311417099728715e-05,
                    "y": -2.7626230803434737e-05,
                    "z": 0.001323998556472361
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1469173431396484,
                "transform": {
                    "location": {
                        "x": -130.1171112060547,
                        "y": 4295.03369140625,
                        "z": 372.92095947265625
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.24090759456157684,
                        "yaw": 179.60430908203125
                    }
                },
                "velocity": {
                    "x": -2.1468586921691895,
                    "y": 0.013653585687279701,
                    "z": 0.008109740912914276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.05052710324525833,
                "transform": {
                    "location": {
                        "x": -140.32913208007812,
                        "y": 4295.0947265625,
                        "z": 372.958740234375
                    },
                    "rotation": {
                        "roll": -0.0010681148851290345,
                        "pitch": 0.2195359319448471,
                        "yaw": 179.0103759765625
                    }
                },
                "velocity": {
                    "x": -0.0505269430577755,
                    "y": -8.919899119064212e-05,
                    "z": 9.107589721679688e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004529719881247729,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0024108882062137127,
                        "pitch": 0.20595067739486694,
                        "yaw": 179.51255798339844
                    }
                },
                "velocity": {
                    "x": 2.782084038699395e-06,
                    "y": -4.179862855835381e-07,
                    "z": -0.0004529632569756359
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.031657855957746506,
        "expert_target_speed": 0.0,
        "target_point": [
            25.519986180579558,
            0.5219557925804558
        ],
        "target_point_next": [
            36.51684720473118,
            0.7839271614450164
        ]
    },
    "625": {
        "acceleration": [
            0.21816971898078918,
            -0.005884050391614437,
            -0.0032064435072243214
        ],
        "angular_velocity": [
            0.0024181045591831207,
            -0.045184116810560226,
            -0.009800586849451065
        ],
        "forward_vector": [
            -0.9995501041412354,
            0.02979240193963051,
            0.003461353713646531
        ],
        "right_vector": [
            -0.029792198911309242,
            -0.9995561242103577,
            0.00011025420826626942
        ],
        "location": [
            -160.8039093017578,
            4291.97998046875,
            373.035888671875
        ],
        "rotation": [
            -0.006317138671875,
            0.1983213573694229,
            178.29275512695312
        ],
        "velocity": [
            -0.0066548609174788,
            0.0002458089147694409,
            0.0014272307744249701
        ],
        "speed": 0.006659399060993935,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.720916748046875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1106803867733106e-05,
                -1.2294855196159915e-06,
                0.0006060971063561738
            ],
            "speed_kmh": 0.0021823204010363,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.75816011428833,
                "transform": {
                    "location": {
                        "x": -177.43968200683594,
                        "y": 4256.52197265625,
                        "z": 372.97296142578125
                    },
                    "rotation": {
                        "roll": 0.0009799222461879253,
                        "pitch": 0.15358363091945648,
                        "yaw": 90.38060760498047
                    }
                },
                "velocity": {
                    "x": -0.027588309720158577,
                    "y": 4.758052349090576,
                    "z": 0.016262702643871307
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5294275283813477,
                "transform": {
                    "location": {
                        "x": -174.48898315429688,
                        "y": 4337.17919921875,
                        "z": 373.1218566894531
                    },
                    "rotation": {
                        "roll": 0.00017722159100230783,
                        "pitch": -0.08749471604824066,
                        "yaw": -89.83873748779297
                    }
                },
                "velocity": {
                    "x": 0.005750617478042841,
                    "y": -2.5294203758239746,
                    "z": -0.0019128703279420733
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6634715795516968,
                "transform": {
                    "location": {
                        "x": -216.1776580810547,
                        "y": 4302.23974609375,
                        "z": 373.240966796875
                    },
                    "rotation": {
                        "roll": 0.03573327139019966,
                        "pitch": -0.33316296339035034,
                        "yaw": -2.191955804824829
                    }
                },
                "velocity": {
                    "x": 0.6633762121200562,
                    "y": -0.011087717488408089,
                    "z": -0.0019017505692318082
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9705333113670349,
                "transform": {
                    "location": {
                        "x": -211.35264587402344,
                        "y": 4298.94091796875,
                        "z": 373.2181091308594
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": -0.31539762020111084,
                        "yaw": 0.17374446988105774
                    }
                },
                "velocity": {
                    "x": 0.9705290198326111,
                    "y": -0.0010746701154857874,
                    "z": -0.0026767158415168524
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009374412475153804,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.13525390625,
                        "z": 373.0523986816406
                    },
                    "rotation": {
                        "roll": 0.0007138369837775826,
                        "pitch": 0.14245042204856873,
                        "yaw": 90.1594467163086
                    }
                },
                "velocity": {
                    "x": 0.00013881878112442791,
                    "y": -0.00013337265409063548,
                    "z": 0.0009174623992294073
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0514564514160156,
                "transform": {
                    "location": {
                        "x": -174.4855499267578,
                        "y": 4324.37255859375,
                        "z": 373.1163635253906
                    },
                    "rotation": {
                        "roll": 0.0014166721375659108,
                        "pitch": 0.19530241191387177,
                        "yaw": -90.02238464355469
                    }
                },
                "velocity": {
                    "x": -0.001953201135620475,
                    "y": -2.051455020904541,
                    "z": -0.0015873145312070847
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007606507861055434,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 8.398666977882385e-06,
                    "y": -1.8032882508123294e-05,
                    "z": 0.0007603905978612602
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009109913371503353,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 9.528584996587597e-06,
                    "y": 1.0575547094049398e-05,
                    "z": 0.0009108801023103297
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.563364505767822,
                "transform": {
                    "location": {
                        "x": -174.6270294189453,
                        "y": 4310.96240234375,
                        "z": 373.10052490234375
                    },
                    "rotation": {
                        "roll": 0.005821743980050087,
                        "pitch": -0.049956001341342926,
                        "yaw": -92.60492706298828
                    }
                },
                "velocity": {
                    "x": -0.2588750123977661,
                    "y": -4.556011199951172,
                    "z": -0.00650834059342742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010491793509572744,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": 1.2201549907331355e-05,
                    "y": 3.077024666708894e-05,
                    "z": 0.001048656995408237
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7723277807235718,
                "transform": {
                    "location": {
                        "x": -117.31272888183594,
                        "y": 4294.9580078125,
                        "z": 372.8651123046875
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": 0.24698646366596222,
                        "yaw": 179.59237670898438
                    }
                },
                "velocity": {
                    "x": -1.772304654121399,
                    "y": 0.0064980098977684975,
                    "z": 0.0063044545240700245
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006062001339159906,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1106803867733106e-05,
                    "y": -1.2294855196159915e-06,
                    "z": 0.0006060971063561738
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006773806526325643,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": -0.21405129134655,
                        "yaw": -0.0811462476849556
                    }
                },
                "velocity": {
                    "x": 1.0584518349787686e-05,
                    "y": -3.5052613384323195e-05,
                    "z": 0.0006763903074897826
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00018055958207696676,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00010894153092522174,
                        "pitch": 0.22204944491386414,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 1.688551128609106e-05,
                    "y": 1.270263396691007e-06,
                    "z": 0.00017976381059270352
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.815154552459717,
                "transform": {
                    "location": {
                        "x": -103.94609069824219,
                        "y": 4294.8955078125,
                        "z": 372.8215637207031
                    },
                    "rotation": {
                        "roll": 0.0029902246315032244,
                        "pitch": -0.08862169831991196,
                        "yaw": 179.81985473632812
                    }
                },
                "velocity": {
                    "x": -4.815107345581055,
                    "y": 0.009711937047541142,
                    "z": 0.019058188423514366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004985645646229386,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": -0.20959118008613586,
                        "yaw": -0.2352295070886612
                    }
                },
                "velocity": {
                    "x": 6.631389055655745e-07,
                    "y": -3.8395293813664466e-05,
                    "z": 0.0004970834706909955
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": -226.48593139648438,
                        "y": 4298.95556640625,
                        "z": 373.4703674316406
                    },
                    "rotation": {
                        "roll": 1.0422119417485831e-10,
                        "pitch": -0.22143472731113434,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007763736648485065,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 8.968077054305468e-06,
                    "y": -3.563423547348066e-07,
                    "z": 0.0007763218018226326
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004063304513692856,
                "transform": {
                    "location": {
                        "x": -130.33132934570312,
                        "y": 4295.03515625,
                        "z": 372.92230224609375
                    },
                    "rotation": {
                        "roll": 7.801567699061707e-05,
                        "pitch": 0.1837935447692871,
                        "yaw": 179.6050262451172
                    }
                },
                "velocity": {
                    "x": 2.2665970391244628e-05,
                    "y": 8.80156130733667e-06,
                    "z": -0.0004056022735312581
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.47269207239151,
                "transform": {
                    "location": {
                        "x": -140.3805389404297,
                        "y": 4295.095703125,
                        "z": 372.9588623046875
                    },
                    "rotation": {
                        "roll": -0.0026550288312137127,
                        "pitch": 0.231031134724617,
                        "yaw": 179.0419464111328
                    }
                },
                "velocity": {
                    "x": -0.47267821431159973,
                    "y": 0.0027349453885108232,
                    "z": 0.0023703002370893955
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.941426232107915e-05,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0028076167218387127,
                        "pitch": 0.20571845769882202,
                        "yaw": 179.51263427734375
                    }
                },
                "velocity": {
                    "x": 2.7777252853411483e-06,
                    "y": -2.9616810934385285e-05,
                    "z": -3.945755088352598e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03174659237265587,
        "expert_target_speed": 0.0,
        "target_point": [
            25.516919836687745,
            0.5226436819926672
        ],
        "target_point_next": [
            36.51377286098684,
            0.7849506483006201
        ]
    },
    "630": {
        "acceleration": [
            -0.19621673226356506,
            0.0059660859405994415,
            0.005574417300522327
        ],
        "angular_velocity": [
            -0.027569439262151718,
            0.0431174673140049,
            -0.008744826540350914
        ],
        "forward_vector": [
            -0.9995495676994324,
            0.02980598248541355,
            0.0035017654299736023
        ],
        "right_vector": [
            -0.029805902391672134,
            -0.9995557069778442,
            7.510067371185869e-05
        ],
        "location": [
            -160.80686950683594,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.004302978049963713,
            0.20063678920269012,
            178.29197692871094
        ],
        "velocity": [
            -0.017027422785758972,
            0.00044123685802333057,
            0.0013571357121691108
        ],
        "speed": 0.017033138779739398,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.71795654296875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.546689398121089e-06,
                1.0593563274596818e-05,
                0.0011398931965231895
            ],
            "speed_kmh": 0.004103936624259881,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2897475063800812,
                "transform": {
                    "location": {
                        "x": -177.44210815429688,
                        "y": 4256.91552734375,
                        "z": 372.9745178222656
                    },
                    "rotation": {
                        "roll": 0.0005180344451218843,
                        "pitch": 0.09125132113695145,
                        "yaw": 90.36688232421875
                    }
                },
                "velocity": {
                    "x": -0.0011303283972665668,
                    "y": 0.2897377908229828,
                    "z": 0.0020882415119558573
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.33793941140174866,
                "transform": {
                    "location": {
                        "x": -174.48843383789062,
                        "y": 4337.025390625,
                        "z": 373.12164306640625
                    },
                    "rotation": {
                        "roll": -6.10348470218014e-05,
                        "pitch": -0.06521464139223099,
                        "yaw": -89.85501098632812
                    }
                },
                "velocity": {
                    "x": 0.0004970720619894564,
                    "y": -0.33793753385543823,
                    "z": -0.0010079764761030674
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8701360821723938,
                "transform": {
                    "location": {
                        "x": -215.96437072753906,
                        "y": 4302.23681640625,
                        "z": 373.23724365234375
                    },
                    "rotation": {
                        "roll": -0.01116943359375,
                        "pitch": 0.04087185114622116,
                        "yaw": -2.015503168106079
                    }
                },
                "velocity": {
                    "x": 0.8700987100601196,
                    "y": -0.007802014704793692,
                    "z": -0.00202350621111691
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.260413646697998,
                "transform": {
                    "location": {
                        "x": -210.93006896972656,
                        "y": 4298.94091796875,
                        "z": 373.2166748046875
                    },
                    "rotation": {
                        "roll": 0.0007192594348452985,
                        "pitch": -0.024260830134153366,
                        "yaw": 0.09518638998270035
                    }
                },
                "velocity": {
                    "x": 2.2603952884674072,
                    "y": -0.002794340718537569,
                    "z": -0.008702363818883896
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009310737950727344,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.13525390625,
                        "z": 373.05224609375
                    },
                    "rotation": {
                        "roll": -0.00015258595522027463,
                        "pitch": 0.16040697693824768,
                        "yaw": 90.1594467163086
                    }
                },
                "velocity": {
                    "x": -0.00015826655726414174,
                    "y": -5.8461835578782484e-05,
                    "z": 0.0009156594751402736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.3199753761291504,
                "transform": {
                    "location": {
                        "x": -174.48545837402344,
                        "y": 4323.703125,
                        "z": 373.1150817871094
                    },
                    "rotation": {
                        "roll": 0.0001701450237305835,
                        "pitch": 0.3910966217517853,
                        "yaw": -90.033447265625
                    }
                },
                "velocity": {
                    "x": -0.003195328637957573,
                    "y": -3.3199727535247803,
                    "z": -0.002519807778298855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011728054378181696,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 4.327669557824265e-06,
                    "y": 5.692148533853469e-06,
                    "z": 0.001172783668152988
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010387781076133251,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.1245869245612994e-05,
                    "y": 2.7871670681633987e-05,
                    "z": 0.0010383431799709797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.075605869293213,
                "transform": {
                    "location": {
                        "x": -174.685546875,
                        "y": 4309.89404296875,
                        "z": 373.0994873046875
                    },
                    "rotation": {
                        "roll": 0.00496029993519187,
                        "pitch": -0.08629943430423737,
                        "yaw": -92.97985076904297
                    }
                },
                "velocity": {
                    "x": -0.23935723304748535,
                    "y": -4.068567276000977,
                    "z": -0.005611428990960121
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013059996999800205,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": -4.053380325785838e-05,
                    "y": 6.373226369760232e-06,
                    "z": 0.001305354991927743
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4394222497940063,
                "transform": {
                    "location": {
                        "x": -117.74491882324219,
                        "y": 4294.9619140625,
                        "z": 372.8669738769531
                    },
                    "rotation": {
                        "roll": 0.0015691214939579368,
                        "pitch": 0.2104995846748352,
                        "yaw": 179.72218322753906
                    }
                },
                "velocity": {
                    "x": -1.4393506050109863,
                    "y": 0.013211898505687714,
                    "z": 0.005640010815113783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001139982370659709,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.546689398121089e-06,
                    "y": 1.0593563274596818e-05,
                    "z": 0.0011398931965231895
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005034961504861712,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0811767578125
                    }
                },
                "velocity": {
                    "x": 2.6809497285285033e-05,
                    "y": 6.720515375491232e-05,
                    "z": 0.0004982700920663774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004939171485602856,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00033332043676637113,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 7.170252501964569e-06,
                    "y": -2.3938855520100333e-05,
                    "z": 0.000493284547701478
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005490010604262352,
                "transform": {
                    "location": {
                        "x": -104.33921813964844,
                        "y": 4294.896484375,
                        "z": 372.8222961425781
                    },
                    "rotation": {
                        "roll": -0.001312255859375,
                        "pitch": -0.4496176540851593,
                        "yaw": 179.8738555908203
                    }
                },
                "velocity": {
                    "x": 0.005407464224845171,
                    "y": -0.00014147162437438965,
                    "z": 0.0009378341492265463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00024522942840121686,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": -0.20959118008613586,
                        "yaw": -0.2352295070886612
                    }
                },
                "velocity": {
                    "x": 1.8615573935676366e-05,
                    "y": -2.7061669243266806e-05,
                    "z": 0.00024301974917761981
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1327625960111618,
                "transform": {
                    "location": {
                        "x": -226.4864044189453,
                        "y": 4298.95556640625,
                        "z": 373.2162780761719
                    },
                    "rotation": {
                        "roll": 9.324137499788776e-05,
                        "pitch": -0.21990476548671722,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0005175975384190679,
                    "y": -4.066037945449352e-06,
                    "z": 0.13276158273220062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009569669491611421,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.713372739686747e-06,
                    "y": 2.045994506261195e-06,
                    "z": 0.0009569632238708436
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00022940807684790343,
                "transform": {
                    "location": {
                        "x": -130.33148193359375,
                        "y": 4295.03515625,
                        "z": 372.9220275878906
                    },
                    "rotation": {
                        "roll": 0.000240630644839257,
                        "pitch": 0.21702924370765686,
                        "yaw": 179.6050262451172
                    }
                },
                "velocity": {
                    "x": 2.2866352082928643e-05,
                    "y": 4.777930735144764e-05,
                    "z": -0.00022320917923934758
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9565399885177612,
                "transform": {
                    "location": {
                        "x": -140.56101989746094,
                        "y": 4295.09814453125,
                        "z": 372.9595642089844
                    },
                    "rotation": {
                        "roll": -0.0025024416390806437,
                        "pitch": 0.23576445877552032,
                        "yaw": 179.12786865234375
                    }
                },
                "velocity": {
                    "x": -0.9565150737762451,
                    "y": 0.0064942482858896255,
                    "z": 0.0023458003997802734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005266247317194939,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0017395017202943563,
                        "pitch": 0.20604629814624786,
                        "yaw": 179.51263427734375
                    }
                },
                "velocity": {
                    "x": 8.011124918994028e-06,
                    "y": 2.2233271010918543e-06,
                    "z": -0.0005265590734779835
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.030009163543581963,
        "expert_target_speed": 0.0,
        "target_point": [
            25.51395371711994,
            0.5229083051158875
        ],
        "target_point_next": [
            36.51080311311408,
            0.7853673389349694
        ]
    },
    "635": {
        "acceleration": [
            0.21159294247627258,
            -0.0031831064261496067,
            -0.003155134618282318
        ],
        "angular_velocity": [
            0.00016170713934116066,
            -0.03698721155524254,
            -0.011399484239518642
        ],
        "forward_vector": [
            -0.9995498061180115,
            0.029797879979014397,
            0.0034956857562065125
        ],
        "right_vector": [
            -0.029797786846756935,
            -0.9995559453964233,
            7.882907084422186e-05
        ],
        "location": [
            -160.80960083007812,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.004516601096838713,
            0.20028845965862274,
            178.29244995117188
        ],
        "velocity": [
            -0.004283703397959471,
            0.00022804312175139785,
            0.0014703082852065563
        ],
        "speed": 0.004289769045889025,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.71522521972656,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                5.609728304989403e-06,
                8.323551810462959e-06,
                0.0006094984710216522
            ],
            "speed_kmh": 0.0021944920168922724,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0542690753936768,
                "transform": {
                    "location": {
                        "x": -177.4423370361328,
                        "y": 4257.08935546875,
                        "z": 372.9744567871094
                    },
                    "rotation": {
                        "roll": 0.0005890271277166903,
                        "pitch": 0.19438034296035767,
                        "yaw": 90.35105895996094
                    }
                },
                "velocity": {
                    "x": -0.0037652545142918825,
                    "y": 1.0542601346969604,
                    "z": 0.0021908951457589865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1533076763153076,
                "transform": {
                    "location": {
                        "x": -174.4879608154297,
                        "y": 4336.82763671875,
                        "z": 373.1210021972656
                    },
                    "rotation": {
                        "roll": 0.00023280817549675703,
                        "pitch": 0.00636573601514101,
                        "yaw": -89.9110107421875
                    }
                },
                "velocity": {
                    "x": 0.0008179892902262509,
                    "y": -1.1533063650131226,
                    "z": -0.001492834067903459
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8957029581069946,
                "transform": {
                    "location": {
                        "x": -215.74952697753906,
                        "y": 4302.2333984375,
                        "z": 373.2384338378906
                    },
                    "rotation": {
                        "roll": 0.0033903149887919426,
                        "pitch": -0.20351913571357727,
                        "yaw": -1.844452142715454
                    }
                },
                "velocity": {
                    "x": 0.8956842422485352,
                    "y": -0.005487921182066202,
                    "z": -0.0018397902604192495
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009846881730481982,
                "transform": {
                    "location": {
                        "x": -210.60592651367188,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.0036315915640443563,
                        "pitch": -0.5637843012809753,
                        "yaw": 0.04609224945306778
                    }
                },
                "velocity": {
                    "x": 0.0008767740218900144,
                    "y": -5.652558684232645e-05,
                    "z": -0.0004446155217010528
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014949995093047619,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.1357421875,
                        "z": 373.0522155761719
                    },
                    "rotation": {
                        "roll": 0.0009245806140825152,
                        "pitch": 0.16590528190135956,
                        "yaw": 90.15943908691406
                    }
                },
                "velocity": {
                    "x": 1.2783538295479957e-05,
                    "y": -1.080732727132272e-05,
                    "z": 0.0014949057949706912
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.698615550994873,
                "transform": {
                    "location": {
                        "x": -174.4860076904297,
                        "y": 4322.68701171875,
                        "z": 373.1138610839844
                    },
                    "rotation": {
                        "roll": 0.0006956944707781076,
                        "pitch": 0.5236091017723083,
                        "yaw": -90.04167938232422
                    }
                },
                "velocity": {
                    "x": -0.0045993453823029995,
                    "y": -4.698612689971924,
                    "z": -0.0018562697805464268
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009601530618965626,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 5.144737770024221e-06,
                    "y": 3.395842213649303e-05,
                    "z": 0.00095953862182796
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011910032480955124,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 7.354654371738434e-06,
                    "y": 3.6720971365866717e-06,
                    "z": 0.0011909749591723084
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.073855400085449,
                "transform": {
                    "location": {
                        "x": -174.7460174560547,
                        "y": 4308.88037109375,
                        "z": 373.09808349609375
                    },
                    "rotation": {
                        "roll": 0.013180711306631565,
                        "pitch": -0.08346490561962128,
                        "yaw": -93.27603912353516
                    }
                },
                "velocity": {
                    "x": -0.34957388043403625,
                    "y": -4.058825492858887,
                    "z": -0.005716867279261351
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001448214054107666,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": -8.741538476897404e-05,
                    "y": -2.5076418751268648e-05,
                    "z": 0.001445355941541493
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4021575450897217,
                "transform": {
                    "location": {
                        "x": -118.3231201171875,
                        "y": 4294.966796875,
                        "z": 372.8687744140625
                    },
                    "rotation": {
                        "roll": 0.0009236506884917617,
                        "pitch": 0.28237366676330566,
                        "yaw": 179.95437622070312
                    }
                },
                "velocity": {
                    "x": -2.4020771980285645,
                    "y": 0.017739983275532722,
                    "z": 0.008425683714449406
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006095811259001493,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 5.609728304989403e-06,
                    "y": 8.323551810462959e-06,
                    "z": 0.0006094984710216522
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.075790588511154e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0811767578125
                    }
                },
                "velocity": {
                    "x": -9.912289897329174e-06,
                    "y": -2.6414183594170026e-05,
                    "z": -5.381041410146281e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006052778917364776,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0009521928150206804,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.6614990234375
                    }
                },
                "velocity": {
                    "x": 1.8918848581961356e-05,
                    "y": -1.8104610717273317e-05,
                    "z": 0.0006047111819498241
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2958707809448242,
                "transform": {
                    "location": {
                        "x": -104.53702545166016,
                        "y": 4294.89697265625,
                        "z": 372.8240661621094
                    },
                    "rotation": {
                        "roll": 0.0012412529904395342,
                        "pitch": 0.1987994760274887,
                        "yaw": 179.87095642089844
                    }
                },
                "velocity": {
                    "x": -1.2958542108535767,
                    "y": 0.004126292187720537,
                    "z": 0.005084161646664143
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006255856133066118,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.20949554443359375,
                        "yaw": -0.235260009765625
                    }
                },
                "velocity": {
                    "x": 2.044848997684312e-06,
                    "y": -9.913085705193225e-06,
                    "z": 0.0006255037151277065
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13099682331085205,
                "transform": {
                    "location": {
                        "x": -226.4864044189453,
                        "y": 4298.95556640625,
                        "z": 373.2674560546875
                    },
                    "rotation": {
                        "roll": 0.001178345293737948,
                        "pitch": -0.2207653671503067,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0005169802461750805,
                    "y": -6.535084594361251e-06,
                    "z": 0.13099579513072968
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010997935896739364,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 8.588358468841761e-06,
                    "y": 1.848020292527508e-05,
                    "z": 0.001099604764021933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00038897478953003883,
                "transform": {
                    "location": {
                        "x": -130.33155822753906,
                        "y": 4295.03515625,
                        "z": 372.9219970703125
                    },
                    "rotation": {
                        "roll": 0.0017933452036231756,
                        "pitch": 0.2220630943775177,
                        "yaw": 179.6050262451172
                    }
                },
                "velocity": {
                    "x": 6.732791462127352e-06,
                    "y": -2.069558746597977e-07,
                    "z": -0.00038891646545380354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.17657068371772766,
                "transform": {
                    "location": {
                        "x": -140.82530212402344,
                        "y": 4295.1025390625,
                        "z": 372.9606628417969
                    },
                    "rotation": {
                        "roll": -0.0007019043550826609,
                        "pitch": 0.21088890731334686,
                        "yaw": 179.44012451171875
                    }
                },
                "velocity": {
                    "x": -0.1765112578868866,
                    "y": 0.004573350306600332,
                    "z": 0.0002640151942614466
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010015263251261786,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0017395017202943563,
                        "pitch": 0.20604629814624786,
                        "yaw": 179.51263427734375
                    }
                },
                "velocity": {
                    "x": 1.2804567859348026e-06,
                    "y": -3.420835128054023e-06,
                    "z": -0.00010008600656874478
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.029681583866477013,
        "expert_target_speed": 0.0,
        "target_point": [
            25.511227844715787,
            0.5226200953843643
        ],
        "target_point_next": [
            36.508079367902354,
            0.7849899861857659
        ]
    },
    "640": {
        "acceleration": [
            -0.178193598985672,
            0.0037133232690393925,
            0.00240325927734375
        ],
        "angular_velocity": [
            -0.00496738962829113,
            0.035412054508924484,
            0.00010185001883655787
        ],
        "forward_vector": [
            -0.9995497465133667,
            0.02979692444205284,
            0.003519885241985321
        ],
        "right_vector": [
            -0.029796751216053963,
            -0.9995559453964233,
            0.00010173212649533525
        ],
        "location": [
            -160.81179809570312,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.005828857887536287,
            0.20167498290538788,
            178.29249572753906
        ],
        "velocity": [
            -0.012543218210339546,
            0.0004338974831625819,
            0.0016784477047622204
        ],
        "speed": 0.012550720700345795,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.71302795410156,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                5.212873020354891e-06,
                -2.9869515856262296e-05,
                0.00040172014269046485
            ],
            "speed_kmh": 0.0014503060775069387,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8962985277175903,
                "transform": {
                    "location": {
                        "x": -177.44444274902344,
                        "y": 4257.46142578125,
                        "z": 372.97552490234375
                    },
                    "rotation": {
                        "roll": 4.7358074084513646e-07,
                        "pitch": 0.21076597273349762,
                        "yaw": 90.32514190673828
                    }
                },
                "velocity": {
                    "x": -0.008583608083426952,
                    "y": 1.8962688446044922,
                    "z": 0.006258773617446423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9098706245422363,
                "transform": {
                    "location": {
                        "x": -174.48773193359375,
                        "y": 4336.43896484375,
                        "z": 373.1209411621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.013571585528552532,
                        "yaw": -89.937744140625
                    }
                },
                "velocity": {
                    "x": 0.002754068002104759,
                    "y": -1.909867763519287,
                    "z": -0.0018044471507892013
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.135725736618042,
                "transform": {
                    "location": {
                        "x": -215.37327575683594,
                        "y": 4302.2275390625,
                        "z": 373.2357482910156
                    },
                    "rotation": {
                        "roll": -0.0107421875,
                        "pitch": -0.03817392513155937,
                        "yaw": -1.5310059785842896
                    }
                },
                "velocity": {
                    "x": 2.1356558799743652,
                    "y": -0.015514570288360119,
                    "z": -0.0075653172098100185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.002418979536741972,
                "transform": {
                    "location": {
                        "x": -210.60374450683594,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": -0.3309909403324127,
                        "yaw": 0.04602339118719101
                    }
                },
                "velocity": {
                    "x": -0.002154221758246422,
                    "y": -0.00023688485089223832,
                    "z": -0.0010745585896074772
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016882336931303144,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.1357421875,
                        "z": 373.05218505859375
                    },
                    "rotation": {
                        "roll": 0.0009018890559673309,
                        "pitch": 0.16877396404743195,
                        "yaw": 90.15943908691406
                    }
                },
                "velocity": {
                    "x": 5.428886197478278e-06,
                    "y": -3.692090467666276e-05,
                    "z": 0.0016878211172297597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.456478118896484,
                "transform": {
                    "location": {
                        "x": -174.48703002929688,
                        "y": 4321.37841796875,
                        "z": 373.1136169433594
                    },
                    "rotation": {
                        "roll": -0.0013732509687542915,
                        "pitch": 0.41583555936813354,
                        "yaw": -90.02388000488281
                    }
                },
                "velocity": {
                    "x": -0.0043891603127121925,
                    "y": -5.456474304199219,
                    "z": -0.0045251366682350636
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007018597680144012,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.7368494809488766e-05,
                    "y": -3.1574872991768643e-06,
                    "z": 0.0007016377057880163
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012114164419472218,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.5960484233801253e-05,
                    "y": 2.5362322048749775e-05,
                    "z": 0.0012110457755625248
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.667952060699463,
                "transform": {
                    "location": {
                        "x": -174.8661651611328,
                        "y": 4307.81005859375,
                        "z": 373.0964050292969
                    },
                    "rotation": {
                        "roll": 0.03674856200814247,
                        "pitch": -0.06442233920097351,
                        "yaw": -95.40709686279297
                    }
                },
                "velocity": {
                    "x": -0.6908732652664185,
                    "y": -4.616539001464844,
                    "z": -0.006182432174682617
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009494281257502735,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": 1.127016730606556e-05,
                    "y": -4.303827608964639e-06,
                    "z": 0.0009493514662608504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.177420735359192,
                "transform": {
                    "location": {
                        "x": -118.50257873535156,
                        "y": 4294.970703125,
                        "z": 372.8699645996094
                    },
                    "rotation": {
                        "roll": 0.0017943870043382049,
                        "pitch": 0.20496714115142822,
                        "yaw": -179.83636474609375
                    }
                },
                "velocity": {
                    "x": -1.1773556470870972,
                    "y": 0.008554879575967789,
                    "z": 0.008942480199038982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004028627881780267,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 5.212873020354891e-06,
                    "y": -2.9869515856262296e-05,
                    "z": 0.00040172014269046485
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005445238784886897,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.21019905805587769,
                        "yaw": -0.081207275390625
                    }
                },
                "velocity": {
                    "x": 2.002037945203483e-05,
                    "y": 1.5127840015338734e-05,
                    "z": 0.0005439454107545316
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005458130617626011,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0019507772522047162,
                        "pitch": 0.22195380926132202,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 8.574239473091438e-06,
                    "y": 1.0260355338687077e-05,
                    "z": 0.0005456492654047906
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1692659854888916,
                "transform": {
                    "location": {
                        "x": -104.9656982421875,
                        "y": 4294.89892578125,
                        "z": 372.8259582519531
                    },
                    "rotation": {
                        "roll": 0.0009809350594878197,
                        "pitch": 0.33381181955337524,
                        "yaw": 179.8572998046875
                    }
                },
                "velocity": {
                    "x": -2.1692392826080322,
                    "y": 0.0071479338221251965,
                    "z": 0.00804312713444233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005632585380226374,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.20949554443359375,
                        "yaw": -0.235260009765625
                    }
                },
                "velocity": {
                    "x": 1.6491860151290894e-05,
                    "y": -2.393242937159812e-07,
                    "z": -0.0005630169762298465
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.797080636024475,
                "transform": {
                    "location": {
                        "x": -226.3543701171875,
                        "y": 4298.9560546875,
                        "z": 373.2808532714844
                    },
                    "rotation": {
                        "roll": 0.004597875755280256,
                        "pitch": -0.3708246052265167,
                        "yaw": -0.2814025580883026
                    }
                },
                "velocity": {
                    "x": 1.7970201969146729,
                    "y": 0.014678491279482841,
                    "z": 0.0012723064282909036
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012174545554444194,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 6.588361884496408e-06,
                    "y": -3.469147486612201e-05,
                    "z": 0.0012169423280283809
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.42655208706855774,
                "transform": {
                    "location": {
                        "x": -130.38124084472656,
                        "y": 4295.03564453125,
                        "z": 372.9220886230469
                    },
                    "rotation": {
                        "roll": -0.0008850094745866954,
                        "pitch": 0.23357880115509033,
                        "yaw": 179.61962890625
                    }
                },
                "velocity": {
                    "x": -0.42653825879096985,
                    "y": 0.002871457953006029,
                    "z": 0.0018886851612478495
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002908799797296524,
                "transform": {
                    "location": {
                        "x": -140.82530212402344,
                        "y": 4295.1025390625,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.0004756284470204264,
                        "pitch": 0.1984647959470749,
                        "yaw": 179.44076538085938
                    }
                },
                "velocity": {
                    "x": 5.5980384786380455e-05,
                    "y": 1.99621390493121e-05,
                    "z": 0.0002847435243893415
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011689042439684272,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0026550290640443563,
                        "pitch": 0.2057594358921051,
                        "yaw": 179.51268005371094
                    }
                },
                "velocity": {
                    "x": 4.157572675467236e-06,
                    "y": 4.270672775419371e-07,
                    "z": -0.0011688967933878303
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03245069831609726,
        "expert_target_speed": 0.0,
        "target_point": [
            25.509032053135062,
            0.5225302941766516
        ],
        "target_point_next": [
            36.505883826532056,
            0.784889697563075
        ]
    },
    "645": {
        "acceleration": [
            0.18598589301109314,
            -0.0004455805174075067,
            -0.0071710580959916115
        ],
        "angular_velocity": [
            0.011953087523579597,
            -0.03661883622407913,
            -0.013344669714570045
        ],
        "forward_vector": [
            -0.9995496273040771,
            0.029803598299622536,
            0.00350140780210495
        ],
        "right_vector": [
            -0.029803423210978508,
            -0.999555766582489,
            0.0001022647411446087
        ],
        "location": [
            -160.81320190429688,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.005859374068677425,
            0.20061630010604858,
            178.2921142578125
        ],
        "velocity": [
            -0.0022731192875653505,
            0.00014138217375148088,
            0.0010913849109783769
        ],
        "speed": 0.0022775118472921937,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.71162414550781,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.53855181048857e-06,
                -7.442501441801141e-07,
                0.0009764235001057386
            ],
            "speed_kmh": 0.003515260019948616,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0646212100982666,
                "transform": {
                    "location": {
                        "x": -177.44656372070312,
                        "y": 4258.00048828125,
                        "z": 372.9774475097656
                    },
                    "rotation": {
                        "roll": 0.00015437389083672315,
                        "pitch": 0.2021462619304657,
                        "yaw": 90.30492401123047
                    }
                },
                "velocity": {
                    "x": -0.00898924469947815,
                    "y": 2.0645952224731445,
                    "z": 0.005149898584932089
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7589573860168457,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4335.84912109375,
                        "z": 373.1208190917969
                    },
                    "rotation": {
                        "roll": 0.00024764268891885877,
                        "pitch": 0.01152252871543169,
                        "yaw": -89.93578338623047
                    }
                },
                "velocity": {
                    "x": 0.0031032070983201265,
                    "y": -2.758955240249634,
                    "z": -0.0014804934617131948
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.456515312194824,
                "transform": {
                    "location": {
                        "x": -214.8396759033203,
                        "y": 4302.22509765625,
                        "z": 373.2338562011719
                    },
                    "rotation": {
                        "roll": 0.0024766006972640753,
                        "pitch": -0.052886150777339935,
                        "yaw": -1.71051025390625
                    }
                },
                "velocity": {
                    "x": 2.456430435180664,
                    "y": -0.01797599531710148,
                    "z": -0.00965801253914833
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000600928149651736,
                "transform": {
                    "location": {
                        "x": -210.60304260253906,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": -0.25417181849479675,
                        "yaw": 0.046005334705114365
                    }
                },
                "velocity": {
                    "x": -0.0005500965635292232,
                    "y": -6.556328298756853e-05,
                    "z": 0.00023283017799258232
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015678713098168373,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.1357421875,
                        "z": 373.05218505859375
                    },
                    "rotation": {
                        "roll": 0.0009018890559673309,
                        "pitch": 0.16877396404743195,
                        "yaw": 90.15943908691406
                    }
                },
                "velocity": {
                    "x": 1.6446598237962462e-05,
                    "y": -1.6778893041191623e-05,
                    "z": 0.001567695289850235
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7744526863098145,
                "transform": {
                    "location": {
                        "x": -174.48703002929688,
                        "y": 4320.16259765625,
                        "z": 373.1147155761719
                    },
                    "rotation": {
                        "roll": -0.0007629485917277634,
                        "pitch": -0.27081015706062317,
                        "yaw": -90.32268524169922
                    }
                },
                "velocity": {
                    "x": 0.0013481227215379477,
                    "y": -3.774448871612549,
                    "z": -0.005185594316571951
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012366502778604627,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.37206907311338e-05,
                    "y": 1.6582684111199342e-05,
                    "z": 0.0012364629656076431
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016453394200652838,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.9193999833078124e-05,
                    "y": 2.3916758436826058e-05,
                    "z": 0.0016450536204501987
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.249205112457275,
                "transform": {
                    "location": {
                        "x": -175.04296875,
                        "y": 4306.5537109375,
                        "z": 373.0948791503906
                    },
                    "rotation": {
                        "roll": 0.023425599560141563,
                        "pitch": -0.058015622198581696,
                        "yaw": -97.5595703125
                    }
                },
                "velocity": {
                    "x": -0.8437216281890869,
                    "y": -5.18095064163208,
                    "z": -0.006322536151856184
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011994366068392992,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": -5.8248217101208866e-05,
                    "y": -6.379782917065313e-06,
                    "z": 0.0011980043491348624
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.742395043373108,
                "transform": {
                    "location": {
                        "x": -118.83515167236328,
                        "y": 4294.97216796875,
                        "z": 372.87109375
                    },
                    "rotation": {
                        "roll": 0.0018389613833278418,
                        "pitch": 0.2546772360801697,
                        "yaw": -179.91506958007812
                    }
                },
                "velocity": {
                    "x": -1.7423511743545532,
                    "y": 0.010254308581352234,
                    "z": 0.00690601347014308
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009764611022546887,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.53855181048857e-06,
                    "y": -7.442501441801141e-07,
                    "z": 0.0009764235001057386
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003571898560039699,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.20972095429897308,
                        "yaw": -0.081207275390625
                    }
                },
                "velocity": {
                    "x": 1.7782300574253895e-06,
                    "y": 5.620254160021432e-05,
                    "z": 0.00035273603862151504
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.001397909945808351,
                        "pitch": 0.22176940739154816,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.360121250152588,
                "transform": {
                    "location": {
                        "x": -105.5184326171875,
                        "y": 4294.9013671875,
                        "z": 372.8279724121094
                    },
                    "rotation": {
                        "roll": 0.0010074981255456805,
                        "pitch": 0.19264547526836395,
                        "yaw": 179.80337524414062
                    }
                },
                "velocity": {
                    "x": -1.3601021766662598,
                    "y": 0.003712194971740246,
                    "z": 0.006166190840303898
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.83707855589455e-06,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.20949554443359375,
                        "yaw": -0.235260009765625
                    }
                },
                "velocity": {
                    "x": 6.839446541562211e-06,
                    "y": 1.2845807759731542e-06,
                    "z": 3.6043904856342124e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1357877254486084,
                "transform": {
                    "location": {
                        "x": -225.71023559570312,
                        "y": 4298.95947265625,
                        "z": 373.278076171875
                    },
                    "rotation": {
                        "roll": 0.003380068112164736,
                        "pitch": -0.3796355426311493,
                        "yaw": -0.0820922926068306
                    }
                },
                "velocity": {
                    "x": 3.135652780532837,
                    "y": 0.0256964061409235,
                    "z": -0.013622388243675232
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012660371139645576,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 2.1933987227384932e-05,
                    "y": -2.6659263312467374e-05,
                    "z": 0.0012655663304030895
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001179100596345961,
                "transform": {
                    "location": {
                        "x": -130.50836181640625,
                        "y": 4295.03564453125,
                        "z": 372.92279052734375
                    },
                    "rotation": {
                        "roll": -9.155270527116954e-05,
                        "pitch": 0.21613448858261108,
                        "yaw": 179.51878356933594
                    }
                },
                "velocity": {
                    "x": -2.6172621801379137e-05,
                    "y": 8.954646182246506e-05,
                    "z": -0.0011754040606319904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.3915624448563904e-05,
                "transform": {
                    "location": {
                        "x": -140.8253936767578,
                        "y": 4295.1025390625,
                        "z": 372.9606018066406
                    },
                    "rotation": {
                        "roll": 0.0008225086494348943,
                        "pitch": 0.214187890291214,
                        "yaw": 179.44078063964844
                    }
                },
                "velocity": {
                    "x": 1.1584385902096983e-05,
                    "y": 1.5620695194229484e-05,
                    "z": 5.0286085752304643e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000599328544922173,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.2059643417596817,
                        "yaw": 179.5126953125
                    }
                },
                "velocity": {
                    "x": 5.360841441870434e-06,
                    "y": -5.806850367662264e-06,
                    "z": -0.0005992764490656555
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.030844129621982574,
        "expert_target_speed": 0.0,
        "target_point": [
            25.507625379315844,
            0.5226587467501159
        ],
        "target_point_next": [
            36.50447540102983,
            0.7850915620363761
        ]
    },
    "650": {
        "acceleration": [
            -0.18242838978767395,
            -0.0005846170824952424,
            0.006161881610751152
        ],
        "angular_velocity": [
            -0.013807326555252075,
            0.03819717839360237,
            -0.0036719918716698885
        ],
        "forward_vector": [
            -0.9995490312576294,
            0.02982170879840851,
            0.0035277530550956726
        ],
        "right_vector": [
            -0.0298216063529253,
            -0.999555230140686,
            8.149220229825005e-05
        ],
        "location": [
            -160.81600952148438,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.004669188056141138,
            0.20212577283382416,
            178.29107666015625
        ],
        "velocity": [
            -0.014964158646762371,
            0.0001990183227462694,
            0.0013525772374123335
        ],
        "speed": 0.014965482026926555,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70881652832031,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.473995654232567e-06,
                -1.7172342268167995e-05,
                4.8012396291596815e-05
            ],
            "speed_kmh": 0.0001850411260950452,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3621755540370941,
                "transform": {
                    "location": {
                        "x": -177.4471893310547,
                        "y": 4258.177734375,
                        "z": 372.9783630371094
                    },
                    "rotation": {
                        "roll": 0.00021269716671667993,
                        "pitch": 0.1593073308467865,
                        "yaw": 90.30521392822266
                    }
                },
                "velocity": {
                    "x": -0.0015860740095376968,
                    "y": 0.3621674180030823,
                    "z": 0.0018389225006103516
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.469552755355835,
                "transform": {
                    "location": {
                        "x": -174.48773193359375,
                        "y": 4335.068359375,
                        "z": 373.1207275390625
                    },
                    "rotation": {
                        "roll": -0.00021362327970564365,
                        "pitch": 0.005703207571059465,
                        "yaw": -89.93878173828125
                    }
                },
                "velocity": {
                    "x": 0.0028051140252500772,
                    "y": -3.4695513248443604,
                    "z": -0.0013329600915312767
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5414428114891052,
                "transform": {
                    "location": {
                        "x": -214.5821075439453,
                        "y": 4302.220703125,
                        "z": 373.2376403808594
                    },
                    "rotation": {
                        "roll": 0.027630271390080452,
                        "pitch": -0.6611281037330627,
                        "yaw": -1.3766173124313354
                    }
                },
                "velocity": {
                    "x": 0.5414234399795532,
                    "y": -0.003850650740787387,
                    "z": -0.002469768514856696
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006200902862474322,
                "transform": {
                    "location": {
                        "x": -210.60281372070312,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": -0.23483555018901825,
                        "yaw": 0.04599674791097641
                    }
                },
                "velocity": {
                    "x": -0.00014068179007153958,
                    "y": -3.9542359445476905e-05,
                    "z": 0.0006026250775903463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008845081902109087,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.1357421875,
                        "z": 373.05218505859375
                    },
                    "rotation": {
                        "roll": 0.0009018890559673309,
                        "pitch": 0.16877396404743195,
                        "yaw": 90.15943908691406
                    }
                },
                "velocity": {
                    "x": -7.154015690957749e-08,
                    "y": -8.177906238415744e-06,
                    "z": 0.0008844704134389758
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0037398990243673325,
                "transform": {
                    "location": {
                        "x": -174.48342895507812,
                        "y": 4319.73291015625,
                        "z": 373.1180725097656
                    },
                    "rotation": {
                        "roll": 0.028355825692415237,
                        "pitch": -1.2846014499664307,
                        "yaw": -90.77416229248047
                    }
                },
                "velocity": {
                    "x": 0.002516012405976653,
                    "y": -0.002276676008477807,
                    "z": -0.0015726640122011304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007736479165032506,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 2.6682764655561186e-06,
                    "y": -2.1534311599680223e-05,
                    "z": 0.0007733435486443341
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008581723086535931,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.0029971235780977e-05,
                    "y": 1.1115790584881324e-05,
                    "z": 0.0008580416906625032
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.831988334655762,
                "transform": {
                    "location": {
                        "x": -175.26998901367188,
                        "y": 4305.20361328125,
                        "z": 373.09295654296875
                    },
                    "rotation": {
                        "roll": 0.048724811524152756,
                        "pitch": -0.05951143428683281,
                        "yaw": -99.6605224609375
                    }
                },
                "velocity": {
                    "x": -1.2210012674331665,
                    "y": -5.702735900878906,
                    "z": -0.006650399882346392
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014702578773722053,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450439453125
                    },
                    "rotation": {
                        "roll": -0.0036926299799233675,
                        "pitch": 0.14923278987407684,
                        "yaw": 88.72544860839844
                    }
                },
                "velocity": {
                    "x": -8.582892041886225e-05,
                    "y": -1.0513494999031536e-05,
                    "z": 0.0014677129220217466
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.640207827091217,
                "transform": {
                    "location": {
                        "x": -119.14031219482422,
                        "y": 4294.974609375,
                        "z": 372.8726806640625
                    },
                    "rotation": {
                        "roll": 0.00010146931890631095,
                        "pitch": 0.1532352864742279,
                        "yaw": -179.8343048095703
                    }
                },
                "velocity": {
                    "x": -0.6401960849761963,
                    "y": 0.0033211989793926477,
                    "z": 0.0020132064819335938
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.1400311349425465e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.473995654232567e-06,
                    "y": -1.7172342268167995e-05,
                    "z": 4.8012396291596815e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00043608626583591104,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.20972095429897308,
                        "yaw": -0.081207275390625
                    }
                },
                "velocity": {
                    "x": 1.1996999091934413e-05,
                    "y": 5.13840677740518e-06,
                    "z": 0.00043589092092588544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004695755778811872,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -5.635991442431987e-07,
                    "y": -1.2722479368676431e-05,
                    "z": 0.00046940287575125694
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7726384401321411,
                "transform": {
                    "location": {
                        "x": -105.61820220947266,
                        "y": 4294.9013671875,
                        "z": 372.8284606933594
                    },
                    "rotation": {
                        "roll": -0.0013122553937137127,
                        "pitch": 0.16724400222301483,
                        "yaw": 179.7876434326172
                    }
                },
                "velocity": {
                    "x": -0.772635281085968,
                    "y": 0.0005790184950456023,
                    "z": 0.00214181886985898
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00031993791344575584,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.20949554443359375,
                        "yaw": -0.235260009765625
                    }
                },
                "velocity": {
                    "x": 1.1347718100296333e-05,
                    "y": 1.060265458363574e-05,
                    "z": 0.00031956075690686703
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.283332824707031,
                "transform": {
                    "location": {
                        "x": -224.77687072753906,
                        "y": 4298.96533203125,
                        "z": 373.27386474609375
                    },
                    "rotation": {
                        "roll": 0.0006209969287738204,
                        "pitch": -0.3408810496330261,
                        "yaw": 0.12069841474294662
                    }
                },
                "velocity": {
                    "x": 4.283154010772705,
                    "y": 0.034987397491931915,
                    "z": -0.017497185617685318
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0016063688090071082,
                "transform": {
                    "location": {
                        "x": -130.50843811035156,
                        "y": 4295.03564453125,
                        "z": 372.9227600097656
                    },
                    "rotation": {
                        "roll": 3.675015614135191e-05,
                        "pitch": 0.2181084156036377,
                        "yaw": 179.51878356933594
                    }
                },
                "velocity": {
                    "x": 1.0360404303355608e-05,
                    "y": -0.00012053845421178266,
                    "z": -0.0016018063761293888
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001100551919080317,
                "transform": {
                    "location": {
                        "x": -140.82546997070312,
                        "y": 4295.1025390625,
                        "z": 372.9606018066406
                    },
                    "rotation": {
                        "roll": 0.0008959877886809409,
                        "pitch": 0.21720683574676514,
                        "yaw": 179.44078063964844
                    }
                },
                "velocity": {
                    "x": 1.03789188869996e-05,
                    "y": 0.0001460379280615598,
                    "z": 0.0010907702380791306
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003335382498335093,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": 0.20583456754684448,
                        "yaw": 179.5126953125
                    }
                },
                "velocity": {
                    "x": 2.1685659703507554e-06,
                    "y": -4.8106940084835514e-06,
                    "z": -0.00033349651494063437
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.025393880903720856,
        "expert_target_speed": 0.0,
        "target_point": [
            25.50480953619733,
            0.5230372120384863
        ],
        "target_point_next": [
            36.50165480087276,
            0.7856692881367681
        ]
    },
    "655": {
        "acceleration": [
            0.21545061469078064,
            -0.00242121540941298,
            0.0023744581267237663
        ],
        "angular_velocity": [
            0.014218832366168499,
            -0.05131179094314575,
            -0.0040201302617788315
        ],
        "forward_vector": [
            -0.9995496869087219,
            0.029800260439515114,
            0.003518812358379364
        ],
        "right_vector": [
            -0.02980017475783825,
            -0.9995558857917786,
            7.669854676350951e-05
        ],
        "location": [
            -160.81866455078125,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.004394530318677425,
            0.20161351561546326,
            178.2923126220703
        ],
        "velocity": [
            -0.002975822426378727,
            0.00023867787967901677,
            0.001459531718865037
        ],
        "speed": 0.002985378743742014,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70616149902344,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1476427062007133e-05,
                5.762575710832607e-06,
                0.001330485800281167
            ],
            "speed_kmh": 0.0047899719884433025,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1364147663116455,
                "transform": {
                    "location": {
                        "x": -177.44749450683594,
                        "y": 4258.36376953125,
                        "z": 372.97869873046875
                    },
                    "rotation": {
                        "roll": -0.0005493200733326375,
                        "pitch": 0.20321860909461975,
                        "yaw": 90.2638168334961
                    }
                },
                "velocity": {
                    "x": -0.003706813557073474,
                    "y": 1.13640558719635,
                    "z": 0.0026714419946074486
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.2087016105651855,
                "transform": {
                    "location": {
                        "x": -174.48655700683594,
                        "y": 4334.103515625,
                        "z": 373.1205749511719
                    },
                    "rotation": {
                        "roll": -0.00021362297411542386,
                        "pitch": 0.00287550943903625,
                        "yaw": -89.93951416015625
                    }
                },
                "velocity": {
                    "x": 0.004430812783539295,
                    "y": -4.2086992263793945,
                    "z": -0.0011654662666842341
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6980303525924683,
                "transform": {
                    "location": {
                        "x": -214.28045654296875,
                        "y": 4302.21728515625,
                        "z": 373.2320251464844
                    },
                    "rotation": {
                        "roll": -0.008300780318677425,
                        "pitch": -0.10613430291414261,
                        "yaw": -1.201263427734375
                    }
                },
                "velocity": {
                    "x": 1.6980020999908447,
                    "y": -0.007697174791246653,
                    "z": -0.006079654674977064
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001381510664941743,
                "transform": {
                    "location": {
                        "x": -210.60272216796875,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.22603826224803925,
                        "yaw": 0.04598730430006981
                    }
                },
                "velocity": {
                    "x": -3.0197499654605053e-05,
                    "y": -8.266798977274448e-05,
                    "z": 0.00010648863826645538
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001898210379295051,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.1357421875,
                        "z": 373.05218505859375
                    },
                    "rotation": {
                        "roll": 0.0009018890559673309,
                        "pitch": 0.16877396404743195,
                        "yaw": 90.15943908691406
                    }
                },
                "velocity": {
                    "x": -4.127801275899401e-06,
                    "y": -1.0410118193249218e-05,
                    "z": 0.0018981773173436522
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.6757442355155945,
                "transform": {
                    "location": {
                        "x": -174.48374938964844,
                        "y": 4319.65380859375,
                        "z": 373.1150207519531
                    },
                    "rotation": {
                        "roll": 0.011561029590666294,
                        "pitch": -0.493371844291687,
                        "yaw": -90.76851654052734
                    }
                },
                "velocity": {
                    "x": -0.004728461615741253,
                    "y": -0.675726592540741,
                    "z": -0.0012373446952551603
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006097880541346967,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.6666725059621967e-05,
                    "y": 7.0028563641244546e-06,
                    "z": 0.0006095200078561902
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010005463846027851,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.2846738172811456e-05,
                    "y": -4.01964207412675e-05,
                    "z": 0.0009996560402214527
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.03849458694458,
                "transform": {
                    "location": {
                        "x": -175.646484375,
                        "y": 4303.63134765625,
                        "z": 373.0906066894531
                    },
                    "rotation": {
                        "roll": 0.09353242814540863,
                        "pitch": -0.04141143336892128,
                        "yaw": -103.97599029541016
                    }
                },
                "velocity": {
                    "x": -2.1667556762695312,
                    "y": -6.696676254272461,
                    "z": -0.010146436281502247
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007884565857239068,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 2.3573977159685455e-05,
                    "y": 1.247473028342938e-05,
                    "z": 0.0007880053599365056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.618464708328247,
                "transform": {
                    "location": {
                        "x": -119.49937438964844,
                        "y": 4294.97607421875,
                        "z": 372.8736877441406
                    },
                    "rotation": {
                        "roll": 0.0018975019920617342,
                        "pitch": 0.25311997532844543,
                        "yaw": -179.8700714111328
                    }
                },
                "velocity": {
                    "x": -1.6184395551681519,
                    "y": 0.007209216710180044,
                    "z": 0.005408057942986488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013305478496477008,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1476427062007133e-05,
                    "y": 5.762575710832607e-06,
                    "z": 0.001330485800281167
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006658662459813058,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.08123779296875
                    }
                },
                "velocity": {
                    "x": 2.9985270884935744e-05,
                    "y": -4.773325053974986e-05,
                    "z": 0.0006634758901782334
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.899712100974284e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": 7.234327313199174e-06,
                    "y": -1.552894536871463e-05,
                    "z": 3.5032724554184824e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7746349573135376,
                "transform": {
                    "location": {
                        "x": -105.94171905517578,
                        "y": 4294.90234375,
                        "z": 372.8299255371094
                    },
                    "rotation": {
                        "roll": 0.00031576870242133737,
                        "pitch": 0.3397267460823059,
                        "yaw": 179.78289794921875
                    }
                },
                "velocity": {
                    "x": -1.7746049165725708,
                    "y": 0.008188590407371521,
                    "z": 0.006294479127973318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003052330284845084,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.20949554443359375,
                        "yaw": -0.235260009765625
                    }
                },
                "velocity": {
                    "x": 5.0326807468081824e-06,
                    "y": -3.042454227397684e-05,
                    "z": -0.0003036712296307087
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.298624515533447,
                "transform": {
                    "location": {
                        "x": -223.56553649902344,
                        "y": 4298.9716796875,
                        "z": 373.2691955566406
                    },
                    "rotation": {
                        "roll": -0.011016844771802425,
                        "pitch": -0.3279993236064911,
                        "yaw": 0.1831602156162262
                    }
                },
                "velocity": {
                    "x": 5.298591136932373,
                    "y": 0.004811760503798723,
                    "z": -0.018212279304862022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009517344878986478,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.920536124089267e-05,
                    "y": -2.289321173520875e-06,
                    "z": 0.000951537920627743
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.411981641780585e-05,
                "transform": {
                    "location": {
                        "x": -130.50843811035156,
                        "y": 4295.03564453125,
                        "z": 372.9227294921875
                    },
                    "rotation": {
                        "roll": 0.00027077103732153773,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.51878356933594
                    }
                },
                "velocity": {
                    "x": 9.109861821343657e-06,
                    "y": -4.003433059551753e-05,
                    "z": -6.170907727209851e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004318942956160754,
                "transform": {
                    "location": {
                        "x": -140.82546997070312,
                        "y": 4295.1025390625,
                        "z": 372.9606018066406
                    },
                    "rotation": {
                        "roll": 5.894311107113026e-05,
                        "pitch": 0.21771909296512604,
                        "yaw": 179.44081115722656
                    }
                },
                "velocity": {
                    "x": 1.286827000512858e-06,
                    "y": -6.273864983086241e-06,
                    "z": 0.00043184682726860046
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005836021737195551,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": 0.20583456754684448,
                        "yaw": 179.5126953125
                    }
                },
                "velocity": {
                    "x": 7.3880328272935e-06,
                    "y": -7.939939678180963e-06,
                    "z": -0.0005835014162585139
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.028871934860944748,
        "expert_target_speed": 0.0,
        "target_point": [
            25.50216690336013,
            0.5224108174554352
        ],
        "target_point_next": [
            36.49901780097687,
            0.7848069267932386
        ]
    },
    "660": {
        "acceleration": [
            -0.176223486661911,
            0.0021970700472593307,
            0.001126481220126152
        ],
        "angular_velocity": [
            -0.008584931492805481,
            0.017878782004117966,
            0.02481234446167946
        ],
        "forward_vector": [
            -0.9995502829551697,
            0.02978024259209633,
            0.0035135671496391296
        ],
        "right_vector": [
            -0.029780134558677673,
            -0.9995564818382263,
            8.309011900564656e-05
        ],
        "location": [
            -160.82077026367188,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.004760742653161287,
            0.20131298899650574,
            178.29345703125
        ],
        "velocity": [
            -0.01150509063154459,
            0.00034986212267540395,
            0.0014715385623276234
        ],
        "speed": 0.011510408939083703,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70405578613281,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0348595424147788e-05,
                1.152515415014932e-05,
                0.0007041445351205766
            ],
            "speed_kmh": 0.0025355335648212414,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.2053527832031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8687535524368286,
                "transform": {
                    "location": {
                        "x": -177.44921875,
                        "y": 4258.7412109375,
                        "z": 372.9798278808594
                    },
                    "rotation": {
                        "roll": 0.00018923886818811297,
                        "pitch": 0.21099136769771576,
                        "yaw": 90.2646713256836
                    }
                },
                "velocity": {
                    "x": -0.008579807355999947,
                    "y": 1.8687233924865723,
                    "z": 0.006224794313311577
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.973127365112305,
                "transform": {
                    "location": {
                        "x": -174.486328125,
                        "y": 4332.9541015625,
                        "z": 373.1202697753906
                    },
                    "rotation": {
                        "roll": -0.00012207044346723706,
                        "pitch": 0.0039888303726911545,
                        "yaw": -89.96398162841797
                    }
                },
                "velocity": {
                    "x": 0.00020428196876309812,
                    "y": -4.9731268882751465,
                    "z": -0.0023116301745176315
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3339070081710815,
                "transform": {
                    "location": {
                        "x": -213.76998901367188,
                        "y": 4302.21240234375,
                        "z": 373.22943115234375
                    },
                    "rotation": {
                        "roll": -0.0037841796875,
                        "pitch": -0.02081158570945263,
                        "yaw": -0.9270629286766052
                    }
                },
                "velocity": {
                    "x": 1.333864450454712,
                    "y": -0.009318046271800995,
                    "z": -0.005176572594791651
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003587505780160427,
                "transform": {
                    "location": {
                        "x": -210.60272216796875,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.22603826224803925,
                        "yaw": 0.04598730430006981
                    }
                },
                "velocity": {
                    "x": 2.1960586309432983e-06,
                    "y": 4.12026423646239e-07,
                    "z": -0.00035874362220056355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012756949290633202,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.1357421875,
                        "z": 373.05218505859375
                    },
                    "rotation": {
                        "roll": 0.0009018890559673309,
                        "pitch": 0.16877396404743195,
                        "yaw": 90.15943908691406
                    }
                },
                "velocity": {
                    "x": -1.7429114450351335e-05,
                    "y": -9.618102922104299e-06,
                    "z": 0.001275539631024003
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4504287242889404,
                "transform": {
                    "location": {
                        "x": -174.48562622070312,
                        "y": 4319.3935546875,
                        "z": 373.11285400390625
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": 0.028939509764313698,
                        "yaw": -90.66661071777344
                    }
                },
                "velocity": {
                    "x": -0.00563609367236495,
                    "y": -1.4504163265228271,
                    "z": -0.001986017217859626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001446004956960678,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.3755709005636163e-05,
                    "y": -7.936132533359341e-06,
                    "z": 0.0014459177618846297
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012190050911158323,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.2919678738398943e-05,
                    "y": 4.320339212426916e-05,
                    "z": 0.0012181707425042987
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.656788349151611,
                "transform": {
                    "location": {
                        "x": -176.2711639404297,
                        "y": 4301.86474609375,
                        "z": 373.0883483886719
                    },
                    "rotation": {
                        "roll": 0.13215188682079315,
                        "pitch": -0.0412338487803936,
                        "yaw": -111.48286437988281
                    }
                },
                "velocity": {
                    "x": -3.281846761703491,
                    "y": -6.917791366577148,
                    "z": -0.007173500023782253
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001511320733698085,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -3.539926910889335e-05,
                    "y": 2.719815711316187e-06,
                    "z": 0.0001469026756240055
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7237305641174316,
                "transform": {
                    "location": {
                        "x": -119.90390014648438,
                        "y": 4294.98583984375,
                        "z": 372.8753356933594
                    },
                    "rotation": {
                        "roll": 0.0032627242617309093,
                        "pitch": 0.24353037774562836,
                        "yaw": -179.33143615722656
                    }
                },
                "velocity": {
                    "x": -1.723675012588501,
                    "y": 0.011828279122710228,
                    "z": 0.007169332355260849
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007043148507364094,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0348595424147788e-05,
                    "y": 1.152515415014932e-05,
                    "z": 0.0007041445351205766
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00043201755033805966,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.08123779296875
                    }
                },
                "velocity": {
                    "x": 9.74483737081755e-06,
                    "y": -5.95101391809294e-06,
                    "z": 0.0004318666469771415
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001290428772335872,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.00040969293331727386,
                        "pitch": 0.2221314013004303,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -7.936171641631518e-06,
                    "y": 2.3154454538598657e-05,
                    "z": -0.00012670023716054857
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2088725566864014,
                "transform": {
                    "location": {
                        "x": -106.4774169921875,
                        "y": 4294.904296875,
                        "z": 372.8319396972656
                    },
                    "rotation": {
                        "roll": 0.0010657242964953184,
                        "pitch": 0.31586891412734985,
                        "yaw": 179.75967407226562
                    }
                },
                "velocity": {
                    "x": -2.208828926086426,
                    "y": 0.010270223021507263,
                    "z": 0.00936188641935587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.115199797321111e-05,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.20949554443359375,
                        "yaw": -0.235260009765625
                    }
                },
                "velocity": {
                    "x": 1.0381676474935375e-05,
                    "y": 1.9146673366776668e-05,
                    "z": 2.227268851129338e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.223918437957764,
                "transform": {
                    "location": {
                        "x": -222.288818359375,
                        "y": 4298.97412109375,
                        "z": 373.2630310058594
                    },
                    "rotation": {
                        "roll": -0.0027465822640806437,
                        "pitch": -0.17865042388439178,
                        "yaw": 0.12769325077533722
                    }
                },
                "velocity": {
                    "x": 4.223862648010254,
                    "y": 0.005079732276499271,
                    "z": -0.021080035716295242
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011090919142588973,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.2354179489193484e-05,
                    "y": -2.393341128481552e-05,
                    "z": 0.0011087647872045636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006256367196328938,
                "transform": {
                    "location": {
                        "x": -130.50843811035156,
                        "y": 4295.03564453125,
                        "z": 372.9227294921875
                    },
                    "rotation": {
                        "roll": 0.00027077103732153773,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.51878356933594
                    }
                },
                "velocity": {
                    "x": 6.6629049797484186e-06,
                    "y": 2.642729668878019e-05,
                    "z": -0.0006250428268685937
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0017172115622088313,
                "transform": {
                    "location": {
                        "x": -140.82546997070312,
                        "y": 4295.1025390625,
                        "z": 372.9605712890625
                    },
                    "rotation": {
                        "roll": 0.0002832563186530024,
                        "pitch": 0.21784886717796326,
                        "yaw": 179.44082641601562
                    }
                },
                "velocity": {
                    "x": 1.8773749616229907e-05,
                    "y": 2.7715530450223014e-05,
                    "z": 0.0017168852500617504
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002260201144963503,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": 0.20583456754684448,
                        "yaw": 179.5126953125
                    }
                },
                "velocity": {
                    "x": 3.4926458738482324e-06,
                    "y": -7.053617082419805e-06,
                    "z": -0.00022588302090298384
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.028462689369916916,
        "expert_target_speed": 0.0,
        "target_point": [
            25.500072830536844,
            0.5218252132895853
        ],
        "target_point_next": [
            36.49692910601122,
            0.7839958431656053
        ]
    },
    "665": {
        "acceleration": [
            0.18411986529827118,
            -0.0031881548929959536,
            -0.006435394752770662
        ],
        "angular_velocity": [
            0.010641000233590603,
            -0.049268681555986404,
            -0.01201076153665781
        ],
        "forward_vector": [
            -0.9995515942573547,
            0.02973758615553379,
            0.0035114213824272156
        ],
        "right_vector": [
            -0.029737429693341255,
            -0.9995577335357666,
            9.64058272074908e-05
        ],
        "location": [
            -160.82272338867188,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.005523680709302425,
            0.2011900395154953,
            178.2958984375
        ],
        "velocity": [
            -0.002384224673733115,
            0.00013371014210861176,
            0.0014335536397993565
        ],
        "speed": 0.0023879710418973853,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70210266113281,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.716712156659923e-06,
                -1.4139012591840583e-06,
                2.1684998500859365e-05
            ],
            "speed_kmh": 8.569609048068283e-05,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.15475428104400635,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.08880615234375
                    },
                    "rotation": {
                        "roll": -0.0003051757230423391,
                        "pitch": 0.03081098198890686,
                        "yaw": -90.05120849609375
                    }
                },
                "velocity": {
                    "x": 0.00035039379145018756,
                    "y": 7.813509728293866e-05,
                    "z": 0.15475386381149292
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.3779233694076538,
                "transform": {
                    "location": {
                        "x": -177.451171875,
                        "y": 4259.24267578125,
                        "z": 372.98162841796875
                    },
                    "rotation": {
                        "roll": 0.0004178378148935735,
                        "pitch": 0.19138872623443604,
                        "yaw": 90.26068115234375
                    }
                },
                "velocity": {
                    "x": -0.006040667649358511,
                    "y": 1.3779021501541138,
                    "z": 0.004678239580243826
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.420766353607178,
                "transform": {
                    "location": {
                        "x": -174.486083984375,
                        "y": 4331.6484375,
                        "z": 373.12017822265625
                    },
                    "rotation": {
                        "roll": -0.00015258806524798274,
                        "pitch": -0.005218264181166887,
                        "yaw": -89.98625946044922
                    }
                },
                "velocity": {
                    "x": -0.0007410976104438305,
                    "y": -5.4207658767700195,
                    "z": -0.002139406045898795
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.277987003326416,
                "transform": {
                    "location": {
                        "x": -213.6131134033203,
                        "y": 4302.21044921875,
                        "z": 373.2318420410156
                    },
                    "rotation": {
                        "roll": 0.006946681998670101,
                        "pitch": -0.39376720786094666,
                        "yaw": -0.8260498642921448
                    }
                },
                "velocity": {
                    "x": 1.277954339981079,
                    "y": -0.007632633205503225,
                    "z": -0.005013932939618826
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001972223981283605,
                "transform": {
                    "location": {
                        "x": -210.60272216796875,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.22603826224803925,
                        "yaw": 0.04598730430006981
                    }
                },
                "velocity": {
                    "x": -1.3605505046143662e-05,
                    "y": -1.0540597031649668e-05,
                    "z": -0.00019647000590339303
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013002681080251932,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.1357421875,
                        "z": 373.05218505859375
                    },
                    "rotation": {
                        "roll": 0.0009018890559673309,
                        "pitch": 0.16877396404743195,
                        "yaw": 90.15943908691406
                    }
                },
                "velocity": {
                    "x": -2.1182227101235185e-06,
                    "y": -9.092315849557053e-06,
                    "z": 0.001300234580412507
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.267915964126587,
                "transform": {
                    "location": {
                        "x": -174.4879608154297,
                        "y": 4318.92822265625,
                        "z": 373.1117248535156
                    },
                    "rotation": {
                        "roll": -0.0069274925626814365,
                        "pitch": 0.2252323031425476,
                        "yaw": -90.5439453125
                    }
                },
                "velocity": {
                    "x": -0.006223639007657766,
                    "y": -2.267906904220581,
                    "z": -0.00160411826800555
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013694465160369873,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.956876258191187e-05,
                    "y": -2.0036242858623154e-05,
                    "z": 0.001369160134345293
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013984419638291001,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 3.645270908236853e-06,
                    "y": -1.8892413208959624e-05,
                    "z": 0.001398309599608183
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.677407264709473,
                "transform": {
                    "location": {
                        "x": -177.24842834472656,
                        "y": 4300.03466796875,
                        "z": 373.0869140625
                    },
                    "rotation": {
                        "roll": 0.2102154642343521,
                        "pitch": 0.019677773118019104,
                        "yaw": -122.2962646484375
                    }
                },
                "velocity": {
                    "x": -5.015202045440674,
                    "y": -7.081323146820068,
                    "z": 0.0020792388822883368
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.771767321974039e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -6.933343570381112e-07,
                    "y": -4.290509878046578e-06,
                    "z": 2.737481008807663e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.099172353744507,
                "transform": {
                    "location": {
                        "x": -120.25218200683594,
                        "y": 4294.98486328125,
                        "z": 372.8765563964844
                    },
                    "rotation": {
                        "roll": 0.004244718700647354,
                        "pitch": 0.2583109140396118,
                        "yaw": -179.5789337158203
                    }
                },
                "velocity": {
                    "x": -2.099118232727051,
                    "y": 0.011746893636882305,
                    "z": 0.009479408152401447
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.380447040195577e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.716712156659923e-06,
                    "y": -1.4139012591840583e-06,
                    "z": 2.1684998500859365e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.064249414019287e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.08123779296875
                    }
                },
                "velocity": {
                    "x": 1.1086314771091565e-05,
                    "y": -3.814897718257271e-05,
                    "z": -7.017806638032198e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015458979760296643,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.00044508263817988336,
                        "pitch": 0.22171476483345032,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 9.9251792562427e-06,
                    "y": -1.6151518138940446e-05,
                    "z": 0.00015342302503995597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6909101605415344,
                "transform": {
                    "location": {
                        "x": -106.6761703491211,
                        "y": 4294.9052734375,
                        "z": 372.83251953125
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.08920909464359283,
                        "yaw": 179.76116943359375
                    }
                },
                "velocity": {
                    "x": -0.6908884048461914,
                    "y": 0.004565527196973562,
                    "z": 0.0030329227447509766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.174499478423968e-05,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": 0.0003546980151440948,
                        "pitch": -0.20929063856601715,
                        "yaw": -0.2353515774011612
                    }
                },
                "velocity": {
                    "x": -2.678409146028571e-06,
                    "y": 2.3661066734348424e-05,
                    "z": -6.767809099983424e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006174450390972197,
                "transform": {
                    "location": {
                        "x": -221.8192901611328,
                        "y": 4298.97412109375,
                        "z": 373.25811767578125
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.17245543003082275,
                        "yaw": 0.1403399407863617
                    }
                },
                "velocity": {
                    "x": -0.0001225560117745772,
                    "y": -4.607703522196971e-05,
                    "z": 0.0006034031393937767
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010367253562435508,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.1349357009748928e-05,
                    "y": 1.789038287824951e-05,
                    "z": 0.0010365089401602745
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00041102865361608565,
                "transform": {
                    "location": {
                        "x": -130.50843811035156,
                        "y": 4295.03564453125,
                        "z": 372.9227294921875
                    },
                    "rotation": {
                        "roll": 0.00027077103732153773,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.51878356933594
                    }
                },
                "velocity": {
                    "x": 9.138248969975393e-06,
                    "y": -1.491948205512017e-05,
                    "z": -0.00041065612458623946
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008017654181458056,
                "transform": {
                    "location": {
                        "x": -140.82546997070312,
                        "y": 4295.1025390625,
                        "z": 372.9606018066406
                    },
                    "rotation": {
                        "roll": 0.00044762948527932167,
                        "pitch": 0.2176986038684845,
                        "yaw": 179.44082641601562
                    }
                },
                "velocity": {
                    "x": 9.602829777577426e-06,
                    "y": 1.3008157111471519e-05,
                    "z": 0.000801602378487587
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008284199284389615,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002227782504633069,
                        "pitch": 0.20577992498874664,
                        "yaw": 179.51272583007812
                    }
                },
                "velocity": {
                    "x": 2.4326889160875e-06,
                    "y": -1.2614977094926871e-05,
                    "z": -0.0008283202769234776
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02952789142727852,
        "expert_target_speed": 0.0,
        "target_point": [
            25.498142691832676,
            0.520684947002639
        ],
        "target_point_next": [
            36.49501008353437,
            0.7823888864798055
        ]
    },
    "670": {
        "acceleration": [
            -0.14266330003738403,
            0.0025719497352838516,
            0.001271821092814207
        ],
        "angular_velocity": [
            -0.016225244849920273,
            0.016421614214777946,
            0.005874401889741421
        ],
        "forward_vector": [
            -0.9995501041412354,
            0.02978787012398243,
            0.003502003848552704
        ],
        "right_vector": [
            -0.029787641018629074,
            -0.9995562434196472,
            0.0001177109734271653
        ],
        "location": [
            -160.823974609375,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.006744383368641138,
            0.20065045356750488,
            178.2930145263672
        ],
        "velocity": [
            -0.007406908553093672,
            0.0002889532770495862,
            0.0009005737374536693
        ],
        "speed": 0.007412542634630164,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70085144042969,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2414119737513829e-05,
                -1.860696329458733e-06,
                0.0008858094806782901
            ],
            "speed_kmh": 0.003189234308059729,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2194329500198364,
                "transform": {
                    "location": {
                        "x": -174.5632781982422,
                        "y": 4349.1669921875,
                        "z": 373.1164855957031
                    },
                    "rotation": {
                        "roll": -0.010345458984375,
                        "pitch": 0.23125652968883514,
                        "yaw": -89.94377899169922
                    }
                },
                "velocity": {
                    "x": 0.016673671081662178,
                    "y": -1.2179689407348633,
                    "z": 0.05736085772514343
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001357870758511126,
                "transform": {
                    "location": {
                        "x": -177.45132446289062,
                        "y": 4259.27197265625,
                        "z": 372.98193359375
                    },
                    "rotation": {
                        "roll": -0.0009460384608246386,
                        "pitch": 0.1661306768655777,
                        "yaw": 90.26081848144531
                    }
                },
                "velocity": {
                    "x": 0.00014277113950811327,
                    "y": -4.613507553585805e-05,
                    "z": 0.0013495557941496372
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.534625291824341,
                "transform": {
                    "location": {
                        "x": -174.4860076904297,
                        "y": 4330.53076171875,
                        "z": 373.1200256347656
                    },
                    "rotation": {
                        "roll": 5.163333844393492e-05,
                        "pitch": -0.07540528476238251,
                        "yaw": -89.99492645263672
                    }
                },
                "velocity": {
                    "x": 0.00020656596461776644,
                    "y": -2.5346250534057617,
                    "z": -0.0014157580444589257
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4722766876220703,
                "transform": {
                    "location": {
                        "x": -213.1316375732422,
                        "y": 4302.20703125,
                        "z": 373.2261962890625
                    },
                    "rotation": {
                        "roll": -0.005249022506177425,
                        "pitch": 0.0788203775882721,
                        "yaw": -0.7006529569625854
                    }
                },
                "velocity": {
                    "x": 2.4722282886505127,
                    "y": -0.01232212781906128,
                    "z": -0.009378737770020962
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00012627866817638278,
                "transform": {
                    "location": {
                        "x": -210.60272216796875,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.22603826224803925,
                        "yaw": 0.04598730430006981
                    }
                },
                "velocity": {
                    "x": 6.335694342851639e-05,
                    "y": 6.499372830148786e-06,
                    "z": -0.00010904108785325661
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.36306047439575195,
                "transform": {
                    "location": {
                        "x": -177.48545837402344,
                        "y": 4269.16259765625,
                        "z": 373.0520935058594
                    },
                    "rotation": {
                        "roll": 0.001789846457540989,
                        "pitch": 0.19345827400684357,
                        "yaw": 90.15524291992188
                    }
                },
                "velocity": {
                    "x": 0.0006855491665191948,
                    "y": 0.363055944442749,
                    "z": 0.0016747283516451716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.600205898284912,
                "transform": {
                    "location": {
                        "x": -174.49046325683594,
                        "y": 4318.19677734375,
                        "z": 373.1102294921875
                    },
                    "rotation": {
                        "roll": -0.011779792606830597,
                        "pitch": 0.4125024080276489,
                        "yaw": -90.3900146484375
                    }
                },
                "velocity": {
                    "x": -0.007945362478494644,
                    "y": -3.60019588470459,
                    "z": -0.0028536985628306866
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001487288041971624,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.3423636119114235e-05,
                    "y": -3.249689370932174e-06,
                    "z": 0.0014872238971292973
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007735914550721645,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.5291869203792885e-05,
                    "y": -1.2737952602037694e-05,
                    "z": 0.0007733353995718062
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.037068367004395,
                "transform": {
                    "location": {
                        "x": -178.51890563964844,
                        "y": 4298.39404296875,
                        "z": 373.0892639160156
                    },
                    "rotation": {
                        "roll": 0.2598402202129364,
                        "pitch": 0.10781452804803848,
                        "yaw": -133.98703002929688
                    }
                },
                "velocity": {
                    "x": -5.77688455581665,
                    "y": -5.587634086608887,
                    "z": 0.02041471377015114
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.274502422660589e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 3.651221777545288e-05,
                    "y": -2.0834429960814305e-05,
                    "z": 5.936853995081037e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0021657273173332214,
                "transform": {
                    "location": {
                        "x": -120.50601196289062,
                        "y": 4294.9892578125,
                        "z": 372.8780517578125
                    },
                    "rotation": {
                        "roll": 0.0019843915943056345,
                        "pitch": 0.1616295874118805,
                        "yaw": -179.2893524169922
                    }
                },
                "velocity": {
                    "x": -0.0006215617177076638,
                    "y": 0.0006514894193969667,
                    "z": -0.0019696694798767567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008858984219841659,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2414119737513829e-05,
                    "y": -1.860696329458733e-06,
                    "z": 0.0008858094806782901
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.762806101003662e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.08123779296875
                    }
                },
                "velocity": {
                    "x": 9.524822417006362e-06,
                    "y": -2.927689092757646e-05,
                    "z": 8.204156620195135e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00031034828862175345,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.00044508263817988336,
                        "pitch": 0.22171476483345032,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.3728588783123996e-05,
                    "y": 1.3192178585086367e-06,
                    "z": 0.00031004167976789176
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6433789730072021,
                "transform": {
                    "location": {
                        "x": -106.98312377929688,
                        "y": 4294.90673828125,
                        "z": 372.83404541015625
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.31712567806243896,
                        "yaw": 179.7627410888672
                    }
                },
                "velocity": {
                    "x": -1.6433497667312622,
                    "y": 0.007857821881771088,
                    "z": 0.005858392454683781
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.430246114730835,
                "transform": {
                    "location": {
                        "x": -221.609375,
                        "y": 4298.97412109375,
                        "z": 373.2606201171875
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -0.23101747035980225,
                        "yaw": 0.17206989228725433
                    }
                },
                "velocity": {
                    "x": 1.4302384853363037,
                    "y": 0.0012859298149123788,
                    "z": -0.004497813992202282
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010323375463485718,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 8.330083801411092e-06,
                    "y": -1.3353384019865189e-05,
                    "z": 0.0010322175221517682
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.18893788754940033,
                "transform": {
                    "location": {
                        "x": -130.52178955078125,
                        "y": 4295.03564453125,
                        "z": 372.9226989746094
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.22855177521705627,
                        "yaw": 179.4893341064453
                    }
                },
                "velocity": {
                    "x": -0.18892937898635864,
                    "y": 0.0017682771431282163,
                    "z": 0.00029676436679437757
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.762703560525551e-05,
                "transform": {
                    "location": {
                        "x": -140.82546997070312,
                        "y": 4295.1025390625,
                        "z": 372.9606018066406
                    },
                    "rotation": {
                        "roll": 0.0002668235683813691,
                        "pitch": 0.21756882965564728,
                        "yaw": 179.4408416748047
                    }
                },
                "velocity": {
                    "x": 5.063638127467129e-06,
                    "y": 1.6580364672336145e-06,
                    "z": 6.741681136190891e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005254909046925604,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002227782504633069,
                        "pitch": 0.20577992498874664,
                        "yaw": 179.51272583007812
                    }
                },
                "velocity": {
                    "x": 5.759484793088632e-06,
                    "y": 1.918066482176073e-05,
                    "z": -0.0005251091788522899
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.028484823182225227,
        "expert_target_speed": 0.0,
        "target_point": [
            25.496865675912744,
            0.5219364720738979
        ],
        "target_point_next": [
            36.493719825809954,
            0.784196245006128
        ]
    },
    "675": {
        "acceleration": [
            0.2028871327638626,
            -0.0033224269282072783,
            0.0013801571913063526
        ],
        "angular_velocity": [
            0.009032905101776123,
            -0.029673287644982338,
            0.011586411856114864
        ],
        "forward_vector": [
            -0.9995527863502502,
            0.029698742553591728,
            0.003492348361760378
        ],
        "right_vector": [
            -0.029698558151721954,
            -0.9995588660240173,
            0.00010439527250127867
        ],
        "location": [
            -160.82492065429688,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.005981444846838713,
            0.2000972181558609,
            178.29812622070312
        ],
        "velocity": [
            0.0018110692035406828,
            5.1340430218260735e-05,
            0.0007540130172856152
        ],
        "speed": 0.0018117967600667795,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.69990539550781,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0045841008832213e-05,
                -4.457368049770594e-06,
                0.0003253831237088889
            ],
            "speed_kmh": 0.0011720472416370156,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.636367082595825,
                "transform": {
                    "location": {
                        "x": -174.55882263183594,
                        "y": 4348.6796875,
                        "z": 373.1231689453125
                    },
                    "rotation": {
                        "roll": -0.003051738254725933,
                        "pitch": 0.30993348360061646,
                        "yaw": -89.78855895996094
                    }
                },
                "velocity": {
                    "x": 0.01922428607940674,
                    "y": -2.6362740993499756,
                    "z": 0.01100095734000206
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.45132446289062,
                        "y": 4259.27197265625,
                        "z": 372.9818420410156
                    },
                    "rotation": {
                        "roll": -0.0005493127973750234,
                        "pitch": 0.18449023365974426,
                        "yaw": 90.26082611083984
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3966747224330902,
                "transform": {
                    "location": {
                        "x": -174.48585510253906,
                        "y": 4330.3681640625,
                        "z": 373.1200256347656
                    },
                    "rotation": {
                        "roll": -0.0005493138451129198,
                        "pitch": -0.0827067568898201,
                        "yaw": -90.0162582397461
                    }
                },
                "velocity": {
                    "x": -0.0014685344649478793,
                    "y": -0.39667198061943054,
                    "z": -0.00011587142944335938
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.007536070886999369,
                "transform": {
                    "location": {
                        "x": -212.7557830810547,
                        "y": 4302.205078125,
                        "z": 373.2299499511719
                    },
                    "rotation": {
                        "roll": 0.010181496851146221,
                        "pitch": -0.5626504421234131,
                        "yaw": -0.643341064453125
                    }
                },
                "velocity": {
                    "x": 0.0074944146908819675,
                    "y": 0.0005230739479884505,
                    "z": -0.0005937233217991889
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000728699320461601,
                "transform": {
                    "location": {
                        "x": -210.60272216796875,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.22603826224803925,
                        "yaw": 0.04598730430006981
                    }
                },
                "velocity": {
                    "x": 2.3000760847935453e-05,
                    "y": -9.574559226166457e-05,
                    "z": 0.0007220155675895512
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.1621493101119995,
                "transform": {
                    "location": {
                        "x": -177.48593139648438,
                        "y": 4269.353515625,
                        "z": 373.05224609375
                    },
                    "rotation": {
                        "roll": -0.0006103467894718051,
                        "pitch": 0.24012212455272675,
                        "yaw": 90.10687255859375
                    }
                },
                "velocity": {
                    "x": -0.0011218341533094645,
                    "y": 1.1621456146240234,
                    "z": 0.002692108042538166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.934305191040039,
                "transform": {
                    "location": {
                        "x": -174.4929656982422,
                        "y": 4317.119140625,
                        "z": 373.10888671875
                    },
                    "rotation": {
                        "roll": -0.01089480146765709,
                        "pitch": 0.5129813551902771,
                        "yaw": -90.24435424804688
                    }
                },
                "velocity": {
                    "x": -0.008244408294558525,
                    "y": -4.934295654296875,
                    "z": -0.005136194173246622
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011892562033608556,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 9.631216016714461e-06,
                    "y": -4.948037712892983e-06,
                    "z": 0.0011892069596797228
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00033106852788478136,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 3.08221933664754e-05,
                    "y": -4.358595469966531e-05,
                    "z": 0.0003267363063059747
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.796647071838379,
                "transform": {
                    "location": {
                        "x": -179.99664306640625,
                        "y": 4297.10107421875,
                        "z": 373.09417724609375
                    },
                    "rotation": {
                        "roll": 0.26979368925094604,
                        "pitch": 0.2081773281097412,
                        "yaw": -145.29598999023438
                    }
                },
                "velocity": {
                    "x": -6.55394172668457,
                    "y": -4.222878456115723,
                    "z": 0.02921372279524803
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3508058802690357e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 9.29033376451116e-06,
                    "y": -9.91886463452829e-06,
                    "z": 1.9181623429176398e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009270147420465946,
                "transform": {
                    "location": {
                        "x": -120.5062484741211,
                        "y": 4294.9892578125,
                        "z": 372.8778076171875
                    },
                    "rotation": {
                        "roll": 0.002554866950958967,
                        "pitch": 0.19468086957931519,
                        "yaw": -179.2893524169922
                    }
                },
                "velocity": {
                    "x": 0.0001401243353029713,
                    "y": -0.00014045067655388266,
                    "z": 0.0009055358241312206
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000325568689731881,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0045841008832213e-05,
                    "y": -4.457368049770594e-06,
                    "z": 0.0003253831237088889
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001230239577125758,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.08123779296875
                    }
                },
                "velocity": {
                    "x": 1.1439881745900493e-05,
                    "y": -2.6444424293003976e-05,
                    "z": -0.00011960232222918421
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.680882845306769e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.00044508263817988336,
                        "pitch": 0.22171476483345032,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.313462803409493e-06,
                    "y": 6.595934246433899e-05,
                    "z": -3.933492553187534e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2019054889678955,
                "transform": {
                    "location": {
                        "x": -107.51499938964844,
                        "y": 4294.9091796875,
                        "z": 372.83612060546875
                    },
                    "rotation": {
                        "roll": 0.0015094415284693241,
                        "pitch": 0.3240378201007843,
                        "yaw": 179.67909240722656
                    }
                },
                "velocity": {
                    "x": -2.2018470764160156,
                    "y": 0.01251633744686842,
                    "z": 0.010027579963207245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.253648281097412,
                "transform": {
                    "location": {
                        "x": -221.1395263671875,
                        "y": 4298.97412109375,
                        "z": 373.2594299316406
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -0.3072492182254791,
                        "yaw": 0.14392179250717163
                    }
                },
                "velocity": {
                    "x": 2.2536325454711914,
                    "y": 0.00236829393543303,
                    "z": -0.00808792095631361
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014271519612520933,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 2.4931430743890814e-05,
                    "y": -3.1659926662541693e-06,
                    "z": 0.0014269306557253003
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9100849628448486,
                "transform": {
                    "location": {
                        "x": -130.66156005859375,
                        "y": 4295.03662109375,
                        "z": 372.9232482910156
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.239220529794693,
                        "yaw": 179.4922332763672
                    }
                },
                "velocity": {
                    "x": -0.910068690776825,
                    "y": 0.004757459741085768,
                    "z": 0.002639179117977619
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008079319959506392,
                "transform": {
                    "location": {
                        "x": -140.82546997070312,
                        "y": 4295.1025390625,
                        "z": 372.9606018066406
                    },
                    "rotation": {
                        "roll": -6.103514533606358e-05,
                        "pitch": 0.21761664748191833,
                        "yaw": 179.44085693359375
                    }
                },
                "velocity": {
                    "x": 6.297901109064696e-06,
                    "y": -7.5606935752148274e-06,
                    "z": 0.0008078720420598984
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001037424590322189,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": 0.20590287446975708,
                        "yaw": 179.51272583007812
                    }
                },
                "velocity": {
                    "x": 4.702173100668006e-06,
                    "y": -2.6649533538147807e-05,
                    "z": -0.00010015083535108715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.030269809067249298,
        "expert_target_speed": 0.0,
        "target_point": [
            25.49596648725091,
            0.5196348551343405
        ],
        "target_point_next": [
            36.492843978753235,
            0.7809140535017163
        ]
    },
    "680": {
        "acceleration": [
            -0.1695823073387146,
            0.0009029451757669449,
            -0.00029449467547237873
        ],
        "angular_velocity": [
            -0.014084300957620144,
            0.026649123057723045,
            0.0027036978863179684
        ],
        "forward_vector": [
            -0.9995517730712891,
            0.029728766530752182,
            0.003520481288433075
        ],
        "right_vector": [
            -0.029728587716817856,
            -0.9995579719543457,
            0.00010333000682294369
        ],
        "location": [
            -160.8260955810547,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.00592041015625,
            0.20170913636684418,
            178.29640197753906
        ],
        "velocity": [
            -0.010422201827168465,
            0.00014130480121821165,
            0.0006388663896359503
        ],
        "speed": 0.010423159692390835,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.69873046875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.164078730653273e-05,
                2.8751936042681336e-05,
                0.0010413529817014933
            ],
            "speed_kmh": 0.0037505335162788056,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.243748188018799,
                "transform": {
                    "location": {
                        "x": -174.55203247070312,
                        "y": 4347.80712890625,
                        "z": 373.1246032714844
                    },
                    "rotation": {
                        "roll": -0.00442507304251194,
                        "pitch": 0.35417261719703674,
                        "yaw": -89.68195343017578
                    }
                },
                "velocity": {
                    "x": 0.03304266557097435,
                    "y": -4.243616104125977,
                    "z": 0.005265731830149889
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.002367987995967269,
                "transform": {
                    "location": {
                        "x": -177.45132446289062,
                        "y": 4259.27197265625,
                        "z": 372.9815979003906
                    },
                    "rotation": {
                        "roll": -0.001190193579532206,
                        "pitch": 0.18865664303302765,
                        "yaw": 90.26082611083984
                    }
                },
                "velocity": {
                    "x": 7.642099808435887e-05,
                    "y": -2.1945311345916707e-06,
                    "z": -0.002366753527894616
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.18149995803833,
                "transform": {
                    "location": {
                        "x": -174.4862518310547,
                        "y": 4330.166015625,
                        "z": 373.1194763183594
                    },
                    "rotation": {
                        "roll": -0.0007324210600927472,
                        "pitch": -0.015477207489311695,
                        "yaw": -89.9727783203125
                    }
                },
                "velocity": {
                    "x": -9.20809616218321e-05,
                    "y": -1.181499719619751,
                    "z": -0.0007938098860904574
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4806493520736694,
                "transform": {
                    "location": {
                        "x": -212.53170776367188,
                        "y": 4302.203125,
                        "z": 373.2264404296875
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.24267660081386566,
                        "yaw": -0.57354736328125
                    }
                },
                "velocity": {
                    "x": 1.4806256294250488,
                    "y": -0.006486077327281237,
                    "z": -0.0053304098546504974
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005583478487096727,
                "transform": {
                    "location": {
                        "x": -210.60272216796875,
                        "y": 4298.94091796875,
                        "z": 373.2153015136719
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.22603826224803925,
                        "yaw": 0.04598730430006981
                    }
                },
                "velocity": {
                    "x": -1.3260543028081884e-06,
                    "y": -3.861106051772367e-06,
                    "z": 0.0005583329475484788
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8845316171646118,
                "transform": {
                    "location": {
                        "x": -177.4860076904297,
                        "y": 4269.740234375,
                        "z": 373.05328369140625
                    },
                    "rotation": {
                        "roll": -0.0006103604682721198,
                        "pitch": 0.248291015625,
                        "yaw": 90.1201171875
                    }
                },
                "velocity": {
                    "x": -0.004020026884973049,
                    "y": 1.8845168352127075,
                    "z": 0.00627416605129838
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.033130645751953,
                "transform": {
                    "location": {
                        "x": -174.49522399902344,
                        "y": 4315.82177734375,
                        "z": 373.1087951660156
                    },
                    "rotation": {
                        "roll": -0.005706786178052425,
                        "pitch": 0.22357256710529327,
                        "yaw": -90.17283630371094
                    }
                },
                "velocity": {
                    "x": -0.007696784101426601,
                    "y": -5.033121109008789,
                    "z": -0.006113767623901367
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008392992313019931,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.0300129360985011e-05,
                    "y": -4.536286724032834e-07,
                    "z": 0.0008392359013669193
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015949116786941886,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 2.36700834648218e-05,
                    "y": 4.036400241602678e-06,
                    "z": 0.0015947308856993914
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.840238094329834,
                "transform": {
                    "location": {
                        "x": -181.68194580078125,
                        "y": 4296.13525390625,
                        "z": 373.10198974609375
                    },
                    "rotation": {
                        "roll": 0.25822752714157104,
                        "pitch": 0.2335241585969925,
                        "yaw": -155.95388793945312
                    }
                },
                "velocity": {
                    "x": -7.278932094573975,
                    "y": -2.9129693508148193,
                    "z": 0.03300749883055687
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00024790046154521406,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -8.86701946001267e-06,
                    "y": -1.5839785191928968e-05,
                    "z": -0.00024723494425415993
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.6989009380340576,
                "transform": {
                    "location": {
                        "x": -120.5785903930664,
                        "y": 4294.9892578125,
                        "z": 372.8777770996094
                    },
                    "rotation": {
                        "roll": 0.005411473102867603,
                        "pitch": 0.25475236773490906,
                        "yaw": -179.30982971191406
                    }
                },
                "velocity": {
                    "x": -0.6988692283630371,
                    "y": 0.006136056501418352,
                    "z": 0.002585306065157056
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010418148012831807,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.164078730653273e-05,
                    "y": 2.8751936042681336e-05,
                    "z": 0.0010413529817014933
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004038158222101629,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.20993268489837646,
                        "yaw": -0.081298828125
                    }
                },
                "velocity": {
                    "x": -4.79511891171569e-06,
                    "y": -3.639540955191478e-05,
                    "z": 0.0004021437489427626
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.0993792683584616e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -1.467194397264393e-05,
                    "y": -2.3984350264072418e-05,
                    "z": -4.254235318512656e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3237649202346802,
                "transform": {
                    "location": {
                        "x": -107.75077819824219,
                        "y": 4294.9111328125,
                        "z": 372.836669921875
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.0051294718869030476,
                        "yaw": 179.5402069091797
                    }
                },
                "velocity": {
                    "x": -0.32376113533973694,
                    "y": -0.0006965199136175215,
                    "z": 0.001405048300512135
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.964522659778595,
                "transform": {
                    "location": {
                        "x": -220.64015197753906,
                        "y": 4298.97509765625,
                        "z": 373.25634765625
                    },
                    "rotation": {
                        "roll": -0.0034179685171693563,
                        "pitch": -0.15829645097255707,
                        "yaw": 0.05527222529053688
                    }
                },
                "velocity": {
                    "x": 0.964475691318512,
                    "y": -0.008459199219942093,
                    "z": -0.0043574427254498005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010722712613642216,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.378796969220275e-05,
                    "y": -4.842821113015816e-07,
                    "z": 0.0010721825528889894
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7226417064666748,
                "transform": {
                    "location": {
                        "x": -130.98968505859375,
                        "y": 4295.03857421875,
                        "z": 372.9244079589844
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": 0.2435167282819748,
                        "yaw": 179.50448608398438
                    }
                },
                "velocity": {
                    "x": -1.7225953340530396,
                    "y": 0.010858158580958843,
                    "z": 0.006450004409998655
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.018629737198352814,
                "transform": {
                    "location": {
                        "x": -140.82655334472656,
                        "y": 4295.1025390625,
                        "z": 372.9605712890625
                    },
                    "rotation": {
                        "roll": 0.0014960163971409202,
                        "pitch": 0.21820403635501862,
                        "yaw": 179.44085693359375
                    }
                },
                "velocity": {
                    "x": 0.018622014671564102,
                    "y": -0.00012377346865832806,
                    "z": 0.0005218600854277611
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00026542352861724794,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": 0.20590287446975708,
                        "yaw": 179.51272583007812
                    }
                },
                "velocity": {
                    "x": 2.9550865292549133e-06,
                    "y": 4.69356746179983e-06,
                    "z": -0.0002653655828908086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.029237080365419388,
        "expert_target_speed": 0.0,
        "target_point": [
            25.494776706214925,
            0.5203536866190567
        ],
        "target_point_next": [
            36.491646468478386,
            0.7819579955005563
        ]
    },
    "685": {
        "acceleration": [
            0.16000249981880188,
            0.0017457356443628669,
            -0.0038291921373456717
        ],
        "angular_velocity": [
            -0.0007822117186151445,
            -0.029631679877638817,
            0.010373375378549099
        ],
        "forward_vector": [
            -0.9995518922805786,
            0.029729485511779785,
            0.003493659431114793
        ],
        "right_vector": [
            -0.029729405418038368,
            -0.9995579719543457,
            7.456804451067e-05
        ],
        "location": [
            -160.8269500732422,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.004272460006177425,
            0.20017234981060028,
            178.29637145996094
        ],
        "velocity": [
            0.002138658659532666,
            -2.5227442165487446e-05,
            0.0004884147783741355
        ],
        "speed": 0.0021388074447767085,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.6978759765625,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.324215170636307e-06,
                4.065060238644946e-06,
                0.0008115273667499423
            ],
            "speed_kmh": 0.0029217280023350126,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3810296058654785,
                "transform": {
                    "location": {
                        "x": -174.5418701171875,
                        "y": 4346.56884765625,
                        "z": 373.1255798339844
                    },
                    "rotation": {
                        "roll": -0.0033874453511089087,
                        "pitch": 0.29612967371940613,
                        "yaw": -89.58831787109375
                    }
                },
                "velocity": {
                    "x": 0.04518788307905197,
                    "y": -5.380838394165039,
                    "z": 0.003647451288998127
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3044188320636749,
                "transform": {
                    "location": {
                        "x": -177.45132446289062,
                        "y": 4259.2978515625,
                        "z": 372.9817199707031
                    },
                    "rotation": {
                        "roll": 0.00039758076309226453,
                        "pitch": 0.1985945701599121,
                        "yaw": 90.255859375
                    }
                },
                "velocity": {
                    "x": -0.00016804528422653675,
                    "y": 0.3044145703315735,
                    "z": 0.001599807757884264
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9183801412582397,
                "transform": {
                    "location": {
                        "x": -174.48670959472656,
                        "y": 4329.77783203125,
                        "z": 373.1192626953125
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.009125132113695145,
                        "yaw": -89.9139404296875
                    }
                },
                "velocity": {
                    "x": 0.00023147344472818077,
                    "y": -1.9183787107467651,
                    "z": -0.002328271744772792
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.61985182762146,
                "transform": {
                    "location": {
                        "x": -211.99273681640625,
                        "y": 4302.20068359375,
                        "z": 373.221435546875
                    },
                    "rotation": {
                        "roll": -0.004547119606286287,
                        "pitch": 0.13048392534255981,
                        "yaw": -0.5076293349266052
                    }
                },
                "velocity": {
                    "x": 2.619811534881592,
                    "y": -0.010748166590929031,
                    "z": -0.009780673310160637
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.17135682702064514,
                "transform": {
                    "location": {
                        "x": -210.5856170654297,
                        "y": 4298.94091796875,
                        "z": 373.21533203125
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": -0.1907876580953598,
                        "yaw": 0.05728517845273018
                    }
                },
                "velocity": {
                    "x": 0.17134854197502136,
                    "y": -0.0010328205535188317,
                    "z": -0.0013318442506715655
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010190982138738036,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.93359375,
                        "z": 373.05572509765625
                    },
                    "rotation": {
                        "roll": -0.001281736884266138,
                        "pitch": 0.023687094449996948,
                        "yaw": 90.1346206665039
                    }
                },
                "velocity": {
                    "x": -0.00020545876759570092,
                    "y": -0.00037885038182139397,
                    "z": 0.0009234827011823654
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.812093734741211,
                "transform": {
                    "location": {
                        "x": -174.49742126464844,
                        "y": 4314.603515625,
                        "z": 373.1080322265625
                    },
                    "rotation": {
                        "roll": -0.0035705596674233675,
                        "pitch": -0.052674416452646255,
                        "yaw": -90.11151123046875
                    }
                },
                "velocity": {
                    "x": -0.004116408061236143,
                    "y": -4.812088966369629,
                    "z": -0.0055784317664802074
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009638196788728237,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 5.735456852562493e-06,
                    "y": 4.042948148708092e-06,
                    "z": 0.0009637941257096827
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012522203614935279,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 2.030834548349958e-05,
                    "y": -1.4857864698569756e-05,
                    "z": 0.0012519675074145198
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984186172485352,
                "transform": {
                    "location": {
                        "x": -183.5519561767578,
                        "y": 4295.48779296875,
                        "z": 373.10980224609375
                    },
                    "rotation": {
                        "roll": 0.2134140282869339,
                        "pitch": 0.23120872676372528,
                        "yaw": -166.3575439453125
                    }
                },
                "velocity": {
                    "x": -7.83422327041626,
                    "y": -1.5398995876312256,
                    "z": 0.029669752344489098
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014984136214479804,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -6.41651640762575e-05,
                    "y": 1.2769810382451396e-05,
                    "z": -0.00013480428606271744
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2340772151947021,
                "transform": {
                    "location": {
                        "x": -120.8359375,
                        "y": 4294.98876953125,
                        "z": 372.87896728515625
                    },
                    "rotation": {
                        "roll": 0.0036854571662843227,
                        "pitch": 0.2572658956050873,
                        "yaw": -179.4764404296875
                    }
                },
                "velocity": {
                    "x": -1.2340478897094727,
                    "y": -0.0068481988273561,
                    "z": 0.00504067400470376
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008115911041386425,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.324215170636307e-06,
                    "y": 4.065060238644946e-06,
                    "z": 0.0008115273667499423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.3012376409024e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.20993268489837646,
                        "yaw": -0.081298828125
                    }
                },
                "velocity": {
                    "x": 7.172301138780313e-06,
                    "y": -4.078721030964516e-05,
                    "z": 1.1620079021668062e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002702506317291409,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.3840422070643399e-05,
                    "y": -1.008971594274044e-06,
                    "z": 0.0002698941098060459
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3488941192626953,
                "transform": {
                    "location": {
                        "x": -107.96437072753906,
                        "y": 4294.91259765625,
                        "z": 372.8379211425781
                    },
                    "rotation": {
                        "roll": -0.0013122555101290345,
                        "pitch": 0.2983221411705017,
                        "yaw": 179.52139282226562
                    }
                },
                "velocity": {
                    "x": -1.3488572835922241,
                    "y": 0.008775667287409306,
                    "z": 0.0047364616766572
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014916514046490192,
                "transform": {
                    "location": {
                        "x": -220.6266326904297,
                        "y": 4298.974609375,
                        "z": 373.2559814453125
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -0.11938486993312836,
                        "yaw": 0.06104279309511185
                    }
                },
                "velocity": {
                    "x": -0.0008590944926254451,
                    "y": 0.0001257234689546749,
                    "z": -0.0012129195965826511
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007787994691170752,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 3.5587697766459314e-07,
                    "y": -1.4503066267934628e-05,
                    "z": 0.0007786643109284341
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00017773003492038697,
                "transform": {
                    "location": {
                        "x": -131.27835083007812,
                        "y": 4295.0400390625,
                        "z": 372.92596435546875
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": 0.1916414350271225,
                        "yaw": 179.5238494873047
                    }
                },
                "velocity": {
                    "x": -3.0429735488723963e-05,
                    "y": -0.00016176245117094368,
                    "z": 6.704408588120714e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2988029718399048,
                "transform": {
                    "location": {
                        "x": -140.85726928710938,
                        "y": 4295.10302734375,
                        "z": 372.9607238769531
                    },
                    "rotation": {
                        "roll": -0.0005493161152116954,
                        "pitch": 0.2260860800743103,
                        "yaw": 179.46388244628906
                    }
                },
                "velocity": {
                    "x": -0.29878732562065125,
                    "y": 0.0022447274532169104,
                    "z": 0.0020769310649484396
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005027974839322269,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": 0.20584139227867126,
                        "yaw": 179.51275634765625
                    }
                },
                "velocity": {
                    "x": 3.6264209484215826e-06,
                    "y": -8.740196790313348e-06,
                    "z": -0.0005027084844186902
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03056427650153637,
        "expert_target_speed": 0.0,
        "target_point": [
            25.493922095463926,
            0.5203525969079665
        ],
        "target_point_next": [
            36.49079160823708,
            0.7819673932216005
        ]
    },
    "690": {
        "acceleration": [
            -0.1513126790523529,
            -0.004973649512976408,
            -0.005060767754912376
        ],
        "angular_velocity": [
            0.029034052044153214,
            0.01625833660364151,
            0.002415245398879051
        ],
        "forward_vector": [
            -0.9995516538619995,
            0.02973758801817894,
            0.0034800695721060038
        ],
        "right_vector": [
            -0.029737548902630806,
            -0.9995577335357666,
            6.338284583762288e-05
        ],
        "location": [
            -160.8273468017578,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.003631591796875,
            0.19939370453357697,
            178.2958984375
        ],
        "velocity": [
            0.0024169343523681164,
            -0.0003511466784402728,
            -0.0002526569296605885
        ],
        "speed": 0.002442309491738654,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.697479248046875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.831785973801743e-06,
                -5.049687842983985e-06,
                1.4303772331913933e-05
            ],
            "speed_kmh": 6.507554074363187e-05,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.589216232299805,
                "transform": {
                    "location": {
                        "x": -174.5301513671875,
                        "y": 4345.1953125,
                        "z": 373.1260070800781
                    },
                    "rotation": {
                        "roll": -0.0017089914763346314,
                        "pitch": 0.11688502132892609,
                        "yaw": -89.52658081054688
                    }
                },
                "velocity": {
                    "x": 0.04872727394104004,
                    "y": -5.589003562927246,
                    "z": 0.0018408012110739946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0603622198104858,
                "transform": {
                    "location": {
                        "x": -177.45249938964844,
                        "y": 4259.48046875,
                        "z": 372.982421875
                    },
                    "rotation": {
                        "roll": 0.0009364557918161154,
                        "pitch": 0.20890815556049347,
                        "yaw": 90.22824096679688
                    }
                },
                "velocity": {
                    "x": -0.0033480131532996893,
                    "y": 1.0603538751602173,
                    "z": 0.0025534629821777344
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7100636959075928,
                "transform": {
                    "location": {
                        "x": -174.48648071289062,
                        "y": 4329.1953125,
                        "z": 373.1189880371094
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": -0.009616905823349953,
                        "yaw": -89.93913269042969
                    }
                },
                "velocity": {
                    "x": 0.00011907994485227391,
                    "y": -2.7100627422332764,
                    "z": -0.002357644960284233
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0033481901045888662,
                "transform": {
                    "location": {
                        "x": -211.7361602783203,
                        "y": 4302.19873046875,
                        "z": 373.2271728515625
                    },
                    "rotation": {
                        "roll": 0.003262093523517251,
                        "pitch": -0.6960440278053284,
                        "yaw": -0.38653564453125
                    }
                },
                "velocity": {
                    "x": 0.003227278823032975,
                    "y": 2.7048879928770475e-05,
                    "z": -0.0008912446210160851
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.086804986000061,
                "transform": {
                    "location": {
                        "x": -210.42803955078125,
                        "y": 4298.94091796875,
                        "z": 373.2146301269531
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": -0.0765664130449295,
                        "yaw": 0.07785803079605103
                    }
                },
                "velocity": {
                    "x": 1.0868009328842163,
                    "y": -0.0010360385058447719,
                    "z": -0.0027723503299057484
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001152405864559114,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.0548400878906
                    },
                    "rotation": {
                        "roll": -0.0010681134881451726,
                        "pitch": 0.1276220828294754,
                        "yaw": 90.1346206665039
                    }
                },
                "velocity": {
                    "x": -1.0199720236414578e-05,
                    "y": -0.000300622166832909,
                    "z": 0.0011124573647975922
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.625657081604004,
                "transform": {
                    "location": {
                        "x": -174.48109436035156,
                        "y": 4313.42236328125,
                        "z": 373.1069030761719
                    },
                    "rotation": {
                        "roll": -0.2482299506664276,
                        "pitch": -0.12362641841173172,
                        "yaw": -89.39812469482422
                    }
                },
                "velocity": {
                    "x": 0.2843257784843445,
                    "y": -4.61690616607666,
                    "z": -0.006149654276669025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014821452787145972,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 6.61086278341827e-06,
                    "y": 2.7508754101290833e-06,
                    "z": 0.0014821280492469668
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001464560627937317,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 3.7188453916314756e-06,
                    "y": -2.7648544346448034e-05,
                    "z": 0.001464294851757586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.954559326171875,
                "transform": {
                    "location": {
                        "x": -185.5146026611328,
                        "y": 4295.17041015625,
                        "z": 373.11749267578125
                    },
                    "rotation": {
                        "roll": 0.1574188619852066,
                        "pitch": 0.19011829793453217,
                        "yaw": -176.06114196777344
                    }
                },
                "velocity": {
                    "x": -7.944271564483643,
                    "y": -0.4034156799316406,
                    "z": 0.028708210214972496
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020478038641158491,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 6.514398410217836e-05,
                    "y": -3.156030652462505e-05,
                    "z": 0.0001915599568746984
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1544063091278076,
                "transform": {
                    "location": {
                        "x": -121.21562194824219,
                        "y": 4294.98876953125,
                        "z": 372.8802795410156
                    },
                    "rotation": {
                        "roll": 0.0059163132682442665,
                        "pitch": 0.2816086709499359,
                        "yaw": -179.726318359375
                    }
                },
                "velocity": {
                    "x": -2.1542911529541016,
                    "y": 0.02089041844010353,
                    "z": 0.007724542636424303
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8076540072797798e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.831785973801743e-06,
                    "y": -5.049687842983985e-06,
                    "z": 1.4303772331913933e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003729479212779552,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.2102605253458023,
                        "yaw": -0.081329345703125
                    }
                },
                "velocity": {
                    "x": -2.2176652691996424e-07,
                    "y": 4.293983238312649e-06,
                    "z": 0.00037292312481440604
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.6164409316843376e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 1.1686234984153998e-06,
                    "y": 8.573641025577672e-06,
                    "z": 1.3653393580170814e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11471,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.50608825683594,
                        "y": 4295.7353515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.272772789001465,
                "transform": {
                    "location": {
                        "x": -108.41780853271484,
                        "y": 4294.9150390625,
                        "z": 372.83978271484375
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": 0.36590003967285156,
                        "yaw": 179.57608032226562
                    }
                },
                "velocity": {
                    "x": -2.272716999053955,
                    "y": 0.013351866975426674,
                    "z": 0.008656825870275497
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003269169828854501,
                "transform": {
                    "location": {
                        "x": -220.62710571289062,
                        "y": 4298.974609375,
                        "z": 373.2566833496094
                    },
                    "rotation": {
                        "roll": -0.002044677734375,
                        "pitch": -0.2033347189426422,
                        "yaw": 0.06103236600756645
                    }
                },
                "velocity": {
                    "x": -8.528502803528681e-05,
                    "y": 0.00010317501437384635,
                    "z": 0.00029825506499037147
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013120218645781279,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 2.3652910385862924e-05,
                    "y": -1.2654359125008341e-05,
                    "z": 0.0013117475900799036
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005327350809238851,
                "transform": {
                    "location": {
                        "x": -131.27842712402344,
                        "y": 4295.0400390625,
                        "z": 372.92578125
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": 0.21357999742031097,
                        "yaw": 179.52389526367188
                    }
                },
                "velocity": {
                    "x": 3.0690320272697136e-05,
                    "y": 8.99675433174707e-05,
                    "z": 0.0005241856561042368
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009819056140258908,
                "transform": {
                    "location": {
                        "x": -140.86788940429688,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 2.368759123783093e-05,
                        "pitch": 0.21558807790279388,
                        "yaw": 179.46388244628906
                    }
                },
                "velocity": {
                    "x": 5.332231467036763e-06,
                    "y": -0.0001882439391920343,
                    "z": 0.0009636775939725339
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0011513371719047427,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0021972651593387127,
                        "pitch": 0.20590969920158386,
                        "yaw": 179.51280212402344
                    }
                },
                "velocity": {
                    "x": 1.7173587707475235e-07,
                    "y": 1.0354873666074127e-05,
                    "z": -0.001151290605776012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.027871349826455116,
        "expert_target_speed": 0.0,
        "target_point": [
            25.49352132346647,
            0.5205474588683592
        ],
        "target_point_next": [
            36.490388715168166,
            0.7822513983455258
        ]
    },
    "695": {
        "acceleration": [
            0.2106066644191742,
            0.002145110396668315,
            0.0003902439493685961
        ],
        "angular_velocity": [
            -0.030787760391831398,
            -0.0406162366271019,
            0.0023771317210048437
        ],
        "forward_vector": [
            -0.9995514750480652,
            0.029744738712906837,
            0.0034763740841299295
        ],
        "right_vector": [
            -0.029744647443294525,
            -0.9995574951171875,
            7.776381244184449e-05
        ],
        "location": [
            -160.8262481689453,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.004455565009266138,
            0.1991819590330124,
            178.2954864501953
        ],
        "velocity": [
            0.011352469213306904,
            6.95055348387541e-07,
            -0.0006790351471863687
        ],
        "speed": 0.011352469234584299,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.698577880859375,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.280285414395621e-05,
                2.527016022213502e-06,
                0.0007885530358180404
            ],
            "speed_kmh": 0.002839179637113411,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.847916126251221,
                "transform": {
                    "location": {
                        "x": -174.51585388183594,
                        "y": 4343.5068359375,
                        "z": 373.1265563964844
                    },
                    "rotation": {
                        "roll": 0.009801695123314857,
                        "pitch": 0.39073461294174194,
                        "yaw": -89.52678680419922
                    }
                },
                "velocity": {
                    "x": 0.05070817843079567,
                    "y": -7.847752094268799,
                    "z": 0.0017637251876294613
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2846664786338806,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7919921875,
                        "z": 372.9835205078125
                    },
                    "rotation": {
                        "roll": 0.0006069963565096259,
                        "pitch": 0.18976996839046478,
                        "yaw": 90.18588256835938
                    }
                },
                "velocity": {
                    "x": -0.0009470749646425247,
                    "y": 0.2846646308898926,
                    "z": 0.0004022407520096749
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.484607458114624,
                "transform": {
                    "location": {
                        "x": -174.4862518310547,
                        "y": 4328.416015625,
                        "z": 373.1186218261719
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": -0.009739848785102367,
                        "yaw": -89.96495056152344
                    }
                },
                "velocity": {
                    "x": -0.0012604306684806943,
                    "y": -3.4846065044403076,
                    "z": -0.0019391918322071433
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004083286505192518,
                "transform": {
                    "location": {
                        "x": -211.73342895507812,
                        "y": 4302.19873046875,
                        "z": 373.22491455078125
                    },
                    "rotation": {
                        "roll": 0.0015195106389001012,
                        "pitch": -0.4181783199310303,
                        "yaw": -0.3865661025047302
                    }
                },
                "velocity": {
                    "x": -0.0037469847593456507,
                    "y": -9.512098040431738e-05,
                    "z": -0.001619964255951345
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9911718368530273,
                "transform": {
                    "location": {
                        "x": -210.01773071289062,
                        "y": 4298.94091796875,
                        "z": 373.2131652832031
                    },
                    "rotation": {
                        "roll": 0.0008581450674682856,
                        "pitch": -0.03393237665295601,
                        "yaw": 0.016253653913736343
                    }
                },
                "velocity": {
                    "x": 1.9911556243896484,
                    "y": -0.003842951264232397,
                    "z": -0.0070623778738081455
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.49867057800293,
                "transform": {
                    "location": {
                        "x": -174.39991760253906,
                        "y": 4312.2822265625,
                        "z": 373.1054992675781
                    },
                    "rotation": {
                        "roll": -0.2423095703125,
                        "pitch": -0.13266275823116302,
                        "yaw": -87.23236083984375
                    }
                },
                "velocity": {
                    "x": 0.3910036087036133,
                    "y": -4.481642246246338,
                    "z": -0.006048745941370726
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015315740602090955,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 6.227455742191523e-06,
                    "y": 9.52141999732703e-06,
                    "z": 0.0015315318014472723
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014544585719704628,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 5.523264462681254e-06,
                    "y": 4.2877995838352945e-06,
                    "z": 0.0014544418081641197
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.0560941696167,
                "transform": {
                    "location": {
                        "x": -187.5164031982422,
                        "y": 4295.0859375,
                        "z": 373.1242980957031
                    },
                    "rotation": {
                        "roll": 0.07005138695240021,
                        "pitch": 0.19562344253063202,
                        "yaw": 178.17791748046875
                    }
                },
                "velocity": {
                    "x": -8.05538272857666,
                    "y": 0.10328958183526993,
                    "z": 0.028112249448895454
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014526532322634012,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 8.022961992537603e-05,
                    "y": 2.265945113322232e-06,
                    "z": -0.0001210788541357033
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005677734152413905,
                "transform": {
                    "location": {
                        "x": -121.35820007324219,
                        "y": 4294.9853515625,
                        "z": 372.8814392089844
                    },
                    "rotation": {
                        "roll": 0.0012115348363295197,
                        "pitch": 0.15087203681468964,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 0.0001961457310244441,
                    "y": 9.665844845585525e-05,
                    "z": -0.0005239758174866438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007886610110290349,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.280285414395621e-05,
                    "y": 2.527016022213502e-06,
                    "z": 0.0007885530358180404
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004407135129440576,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.2102605253458023,
                        "yaw": -0.081329345703125
                    }
                },
                "velocity": {
                    "x": 1.888748192868661e-05,
                    "y": 2.6505618734518066e-05,
                    "z": -0.00043951006955467165
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008372862939722836,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889404296875
                    },
                    "rotation": {
                        "roll": 0.0007175998762249947,
                        "pitch": 0.22187867760658264,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 9.784884241526015e-06,
                    "y": 2.785340439004358e-05,
                    "z": 0.0008367656264454126
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.18704961240291595,
                "transform": {
                    "location": {
                        "x": -108.87406158447266,
                        "y": 4294.9169921875,
                        "z": 372.8412170410156
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": 0.03588581085205078,
                        "yaw": 179.77760314941406
                    }
                },
                "velocity": {
                    "x": -0.18704402446746826,
                    "y": 0.001284793601371348,
                    "z": 0.0006629085401073098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.05820559337735176,
                "transform": {
                    "location": {
                        "x": -220.62405395507812,
                        "y": 4298.974609375,
                        "z": 373.2568359375
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": -0.22335399687290192,
                        "yaw": 0.059824563562870026
                    }
                },
                "velocity": {
                    "x": 0.05819237604737282,
                    "y": 0.00029995854129083455,
                    "z": -0.001203575055114925
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013586730929091573,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 0.0004642556596081704,
                        "pitch": 0.19806864857673645,
                        "yaw": 179.71401977539062
                    }
                },
                "velocity": {
                    "x": 1.0573379768175073e-05,
                    "y": -2.6936688755085925e-06,
                    "z": 0.0013586293207481503
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00011219783482374623,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.4840550647932105e-05,
                    "y": 7.062084478093311e-05,
                    "z": 8.591162622906268e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012959709856659174,
                "transform": {
                    "location": {
                        "x": -140.86788940429688,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 2.368759123783093e-05,
                        "pitch": 0.21558807790279388,
                        "yaw": 179.46388244628906
                    }
                },
                "velocity": {
                    "x": 1.4727711459272541e-05,
                    "y": 1.7716507500153966e-05,
                    "z": 0.0012957662111148238
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000513299077283591,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.20601215958595276,
                        "yaw": 179.51280212402344
                    }
                },
                "velocity": {
                    "x": 2.1757930426247185e-06,
                    "y": 1.5053718925628345e-05,
                    "z": -0.0005130736390128732
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.030054233968257904,
        "expert_target_speed": 0.0,
        "target_point": [
            25.494615746273595,
            0.5207624810312572
        ],
        "target_point_next": [
            36.49148126584156,
            0.7825450762266719
        ]
    },
    "700": {
        "acceleration": [
            -0.20467278361320496,
            -0.00018355522479396313,
            -0.0025415420532226562
        ],
        "angular_velocity": [
            0.00048354308819398284,
            0.04120660200715065,
            0.01139604952186346
        ],
        "forward_vector": [
            -0.999552309513092,
            0.029712801799178123,
            0.0035065338015556335
        ],
        "right_vector": [
            -0.029712606221437454,
            -0.9995584487915039,
            0.00010812366963364184
        ],
        "location": [
            -160.8251495361328,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.006195067893713713,
            0.20091000199317932,
            178.2973175048828
        ],
        "velocity": [
            8.120627171592787e-05,
            -1.0720147656684276e-05,
            -0.0007814502459950745
        ],
        "speed": 8.191080595246405e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.699676513671875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.90845570008969e-06,
                2.8915283110109158e-06,
                0.00048805761616677046
            ],
            "speed_kmh": 0.0017572689012569417,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.063920497894287,
                "transform": {
                    "location": {
                        "x": -174.50523376464844,
                        "y": 4341.603515625,
                        "z": 373.1268310546875
                    },
                    "rotation": {
                        "roll": 0.0030674312729388475,
                        "pitch": -0.012205547653138638,
                        "yaw": -89.52224731445312
                    }
                },
                "velocity": {
                    "x": 0.04084419459104538,
                    "y": -7.063802242279053,
                    "z": 0.0015511035453528166
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015371309127658606,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.79345703125,
                        "z": 372.9836120605469
                    },
                    "rotation": {
                        "roll": 0.00024518760619685054,
                        "pitch": 0.17856162786483765,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": 0.00011609651846811175,
                    "y": -3.781489795073867e-05,
                    "z": 0.0015322737162932754
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.228114604949951,
                "transform": {
                    "location": {
                        "x": -174.4860076904297,
                        "y": 4327.4482421875,
                        "z": 373.1180725097656
                    },
                    "rotation": {
                        "roll": -6.103564373916015e-05,
                        "pitch": -0.010771207511425018,
                        "yaw": -89.99415588378906
                    }
                },
                "velocity": {
                    "x": -0.0023193280212581158,
                    "y": -4.228113174438477,
                    "z": -0.002034740289673209
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001672504935413599,
                "transform": {
                    "location": {
                        "x": -211.73085021972656,
                        "y": 4302.19873046875,
                        "z": 373.2227783203125
                    },
                    "rotation": {
                        "roll": 0.000521406764164567,
                        "pitch": -0.16366498172283173,
                        "yaw": -0.3865661025047302
                    }
                },
                "velocity": {
                    "x": -0.0004701122816186398,
                    "y": -5.408063589129597e-05,
                    "z": -0.001604164019227028
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003173049772158265,
                "transform": {
                    "location": {
                        "x": -209.89117431640625,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.002532958984375,
                        "pitch": -0.4498840570449829,
                        "yaw": 0.006615718826651573
                    }
                },
                "velocity": {
                    "x": -0.003054851433262229,
                    "y": -8.840722875902429e-05,
                    "z": -0.000853411911521107
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.348750591278076,
                "transform": {
                    "location": {
                        "x": -174.30601501464844,
                        "y": 4311.1845703125,
                        "z": 373.1040954589844
                    },
                    "rotation": {
                        "roll": -0.1249084398150444,
                        "pitch": -0.14078384637832642,
                        "yaw": -85.96880340576172
                    }
                },
                "velocity": {
                    "x": 0.4076133668422699,
                    "y": -4.329601764678955,
                    "z": -0.005539207253605127
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007458100444637239,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.885063829831779e-05,
                    "y": -1.2670603609876707e-05,
                    "z": 0.0007454641163349152
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008006225689314306,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 9.438954293727875e-06,
                    "y": -2.3267887172551127e-06,
                    "z": 0.0008005635463632643
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.972592353820801,
                "transform": {
                    "location": {
                        "x": -189.51991271972656,
                        "y": 4295.13232421875,
                        "z": 373.1311340332031
                    },
                    "rotation": {
                        "roll": 0.026482541114091873,
                        "pitch": 0.19789789617061615,
                        "yaw": 176.32107543945312
                    }
                },
                "velocity": {
                    "x": -7.964351654052734,
                    "y": 0.3612082302570343,
                    "z": 0.02928723208606243
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002570434007793665,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 5.888669329578988e-05,
                    "y": 4.827529210160719e-06,
                    "z": 0.00025016069412231445
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0018214312149211764,
                "transform": {
                    "location": {
                        "x": -121.35858917236328,
                        "y": 4294.9853515625,
                        "z": 372.88104248046875
                    },
                    "rotation": {
                        "roll": 0.0001541515812277794,
                        "pitch": 0.20783580839633942,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 9.053006215253845e-05,
                    "y": -2.9503153200494125e-05,
                    "z": 0.0018189407419413328
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00048813025932759047,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.90845570008969e-06,
                    "y": 2.8915283110109158e-06,
                    "z": 0.00048805761616677046
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00013397693692240864,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.00027230801060795784,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.081329345703125
                    }
                },
                "velocity": {
                    "x": -1.1610201909206808e-05,
                    "y": 3.9124452086980455e-06,
                    "z": 0.00013341558224055916
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.144614887190983e-05,
                "transform": {
                    "location": {
                        "x": -221.08694458007812,
                        "y": 4295.67333984375,
                        "z": 373.2889709472656
                    },
                    "rotation": {
                        "roll": 0.0005871857283636928,
                        "pitch": 0.22185136377811432,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": -1.1547877875273116e-05,
                    "y": -6.920564828760689e-06,
                    "z": 9.044971375260502e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": -177.31085205078125,
                        "y": 4244.7548828125,
                        "z": 373.0157470703125
                    },
                    "rotation": {
                        "roll": 1.3340319071630802e-08,
                        "pitch": 0.2288796305656433,
                        "yaw": 90.57296752929688
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.972817599773407,
                "transform": {
                    "location": {
                        "x": -108.98960876464844,
                        "y": 4294.91748046875,
                        "z": 372.8420104980469
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.2246927171945572,
                        "yaw": 179.7908477783203
                    }
                },
                "velocity": {
                    "x": -0.9728095531463623,
                    "y": 0.0030708101112395525,
                    "z": 0.00250212661921978
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7684853672981262,
                "transform": {
                    "location": {
                        "x": -220.5378875732422,
                        "y": 4298.97509765625,
                        "z": 373.2568359375
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.2784736156463623,
                        "yaw": 0.044208135455846786
                    }
                },
                "velocity": {
                    "x": 0.7684792280197144,
                    "y": 0.000740660703741014,
                    "z": -0.0029863929376006126
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0019604761619120836,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.6153231626958586e-05,
                    "y": -2.0838109549004002e-07,
                    "z": 0.0019604095723479986
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006635998724959791,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.0495707101654261e-05,
                    "y": -8.033411177166272e-06,
                    "z": 0.0006634682067669928
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00027587442309595644,
                "transform": {
                    "location": {
                        "x": -140.86788940429688,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": 0.21686533093452454,
                        "yaw": 179.4639129638672
                    }
                },
                "velocity": {
                    "x": 5.408637207438005e-06,
                    "y": -0.00010030302655650303,
                    "z": -0.0002569372591096908
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00043117886525578797,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.20601215958595276,
                        "yaw": 179.51280212402344
                    }
                },
                "velocity": {
                    "x": 6.834566647739848e-06,
                    "y": 2.963955375889782e-05,
                    "z": -0.00043010464287362993
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.027933819219470024,
        "expert_target_speed": 0.0,
        "target_point": [
            25.495730518377318,
            0.5199806197160619
        ],
        "target_point_next": [
            36.49260439578694,
            0.781411885933004
        ]
    },
    "705": {
        "acceleration": [
            0.18922649323940277,
            -0.002718829084187746,
            -0.0061269779689610004
        ],
        "angular_velocity": [
            0.009818599559366703,
            -0.0408053882420063,
            -0.009970531798899174
        ],
        "forward_vector": [
            -0.9995527267456055,
            0.029701365157961845,
            0.0034952089190483093
        ],
        "right_vector": [
            -0.029701165854930878,
            -0.9995588064193726,
            0.00010865626973100007
        ],
        "location": [
            -160.82351684570312,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.0062255836091935635,
            0.20026113092899323,
            178.2979736328125
        ],
        "velocity": [
            0.013085450045764446,
            -0.0002255192375741899,
            -0.0013838005252182484
        ],
        "speed": 0.013087393240317676,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70130920410156,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3930797649663873e-05,
                -1.1101489690190647e-05,
                0.0013151253806427121
            ],
            "speed_kmh": 0.004734885649940501,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1840224266052246,
                "transform": {
                    "location": {
                        "x": -174.50250244140625,
                        "y": 4340.533203125,
                        "z": 373.12652587890625
                    },
                    "rotation": {
                        "roll": -0.023834219202399254,
                        "pitch": -0.9164679050445557,
                        "yaw": -88.97271728515625
                    }
                },
                "velocity": {
                    "x": -0.005556589923799038,
                    "y": -1.1840084791183472,
                    "z": -0.001495580654591322
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00039170781383290887,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835510253906
                    },
                    "rotation": {
                        "roll": 0.00012608568067662418,
                        "pitch": 0.18638218939304352,
                        "yaw": 90.18553161621094
                    }
                },
                "velocity": {
                    "x": 7.50026447349228e-05,
                    "y": -1.2324638191785198e-05,
                    "z": 0.0003842625592369586
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.998392105102539,
                "transform": {
                    "location": {
                        "x": -174.48585510253906,
                        "y": 4326.29248046875,
                        "z": 373.1174011230469
                    },
                    "rotation": {
                        "roll": 0.0004691002832259983,
                        "pitch": -0.014835170470178127,
                        "yaw": -90.01416015625
                    }
                },
                "velocity": {
                    "x": -0.003033824497833848,
                    "y": -4.9983906745910645,
                    "z": -0.002380266087129712
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002895690267905593,
                "transform": {
                    "location": {
                        "x": -211.73109436035156,
                        "y": 4302.19873046875,
                        "z": 373.2229309082031
                    },
                    "rotation": {
                        "roll": 0.0007108713616617024,
                        "pitch": -0.18459951877593994,
                        "yaw": -0.3865661025047302
                    }
                },
                "velocity": {
                    "x": 0.00022172715398482978,
                    "y": -5.873338864148536e-07,
                    "z": 0.00018624431686475873
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001431063748896122,
                "transform": {
                    "location": {
                        "x": -209.8896026611328,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -0.27722370624542236,
                        "yaw": 0.006574931554496288
                    }
                },
                "velocity": {
                    "x": -0.0011494135251268744,
                    "y": -0.00011428977450123057,
                    "z": -0.000844825292006135
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.197500228881836,
                "transform": {
                    "location": {
                        "x": -174.20758056640625,
                        "y": 4310.12158203125,
                        "z": 373.10272216796875
                    },
                    "rotation": {
                        "roll": -0.0674133226275444,
                        "pitch": -0.14422626793384552,
                        "yaw": -85.22148895263672
                    }
                },
                "velocity": {
                    "x": 0.4105580151081085,
                    "y": -4.177369117736816,
                    "z": -0.006038837134838104
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007721444126218557,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 9.64853916229913e-06,
                    "y": 3.9213000491145067e-07,
                    "z": 0.0007720840512774885
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008126035681925714,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.2878625966550317e-05,
                    "y": 1.8137199731427245e-05,
                    "z": 0.0008122990257106721
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.031509399414062,
                "transform": {
                    "location": {
                        "x": -191.51780700683594,
                        "y": 4295.2177734375,
                        "z": 373.1380920410156
                    },
                    "rotation": {
                        "roll": -0.006774901878088713,
                        "pitch": 0.19854675233364105,
                        "yaw": 176.9145050048828
                    }
                },
                "velocity": {
                    "x": -8.025832176208496,
                    "y": 0.30055442452430725,
                    "z": 0.028849152848124504
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003389399207662791,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 6.719285738654435e-05,
                    "y": -6.224522076081485e-05,
                    "z": 0.00032632946386002004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001565531245432794,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0006759290699847043,
                        "pitch": 0.22056728601455688,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 2.9311664548004046e-05,
                    "y": -0.00010204486170550808,
                    "z": 0.0015619269106537104
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013152459869161248,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3930797649663873e-05,
                    "y": -1.1101489690190647e-05,
                    "z": 0.0013151253806427121
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004218081885483116,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.00027230801060795784,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.081329345703125
                    }
                },
                "velocity": {
                    "x": 1.7635971744311973e-05,
                    "y": -1.751262607285753e-05,
                    "z": 0.0004210753249935806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5125836133956909,
                "transform": {
                    "location": {
                        "x": -221.107421875,
                        "y": 4295.67333984375,
                        "z": 373.2886962890625
                    },
                    "rotation": {
                        "roll": -0.0015258785570040345,
                        "pitch": 0.2582835853099823,
                        "yaw": 179.6661834716797
                    }
                },
                "velocity": {
                    "x": -0.512566328048706,
                    "y": -0.003340566996484995,
                    "z": 0.0025605391710996628
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.23132619261741638,
                "transform": {
                    "location": {
                        "x": -177.31085205078125,
                        "y": 4244.75537109375,
                        "z": 372.88421630859375
                    },
                    "rotation": {
                        "roll": 0.0015208096010610461,
                        "pitch": 0.22687837481498718,
                        "yaw": 90.57308197021484
                    }
                },
                "velocity": {
                    "x": 3.5858982300851494e-05,
                    "y": -0.0009370704065077007,
                    "z": 0.23132430016994476
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9268078804016113,
                "transform": {
                    "location": {
                        "x": -109.35796356201172,
                        "y": 4294.91943359375,
                        "z": 372.8436279296875
                    },
                    "rotation": {
                        "roll": 0.0011834936449304223,
                        "pitch": 0.34677550196647644,
                        "yaw": 179.69461059570312
                    }
                },
                "velocity": {
                    "x": -1.9267650842666626,
                    "y": 0.01094198040664196,
                    "z": 0.006717662792652845
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5888478755950928,
                "transform": {
                    "location": {
                        "x": -220.2429656982422,
                        "y": 4298.97509765625,
                        "z": 373.2560119628906
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.30123865604400635,
                        "yaw": 0.03279361501336098
                    }
                },
                "velocity": {
                    "x": 1.5888357162475586,
                    "y": 0.002057334640994668,
                    "z": -0.005835847929120064
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008283513016067445,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.8981694665853865e-05,
                    "y": 8.639583938929718e-06,
                    "z": 0.000828088668640703
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008337765466421843,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 9.760111424839124e-06,
                    "y": -5.568739197769901e-06,
                    "z": 0.0008337008184753358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.2174254059791565,
                        "yaw": 179.4639129638672
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005501238629221916,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.20601215958595276,
                        "yaw": 179.51280212402344
                    }
                },
                "velocity": {
                    "x": 4.084557076566853e-06,
                    "y": 1.2737766155623831e-05,
                    "z": -0.0005499611725099385
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.028384890407323837,
        "expert_target_speed": 0.0,
        "target_point": [
            25.497368437539084,
            0.5197373369749911
        ],
        "target_point_next": [
            36.494245306071996,
            0.7810427539406849
        ]
    },
    "710": {
        "acceleration": [
            -0.2130003124475479,
            0.0015952048124745488,
            0.007196615915745497
        ],
        "angular_velocity": [
            0.013330118730664253,
            0.022374290972948074,
            0.012997969053685665
        ],
        "forward_vector": [
            -0.9995516538619995,
            0.02973281778395176,
            0.003520004451274872
        ],
        "right_vector": [
            -0.02973264455795288,
            -0.9995578527450562,
            0.00010173212649533525
        ],
        "location": [
            -160.82171630859375,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.005828857887536287,
            0.20168180763721466,
            178.29617309570312
        ],
        "velocity": [
            0.002879057079553604,
            -0.0002505561278667301,
            -0.0014360809000208974
        ],
        "speed": 0.0028899391067182187,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70310974121094,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2241825061209965e-05,
                9.33327100938186e-06,
                0.0008016686188057065
            ],
            "speed_kmh": 0.002886539056382074,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0950992107391357,
                "transform": {
                    "location": {
                        "x": -174.501953125,
                        "y": 4340.41064453125,
                        "z": 373.1266174316406
                    },
                    "rotation": {
                        "roll": -0.014251702465116978,
                        "pitch": -0.27749690413475037,
                        "yaw": -89.01142120361328
                    }
                },
                "velocity": {
                    "x": 0.009261401370167732,
                    "y": -1.0950591564178467,
                    "z": 0.0013281250139698386
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010890712728723884,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835510253906
                    },
                    "rotation": {
                        "roll": 2.251173646072857e-05,
                        "pitch": 0.19298698008060455,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": -5.296658491715789e-05,
                    "y": -9.291730748373084e-06,
                    "z": 0.0010877428576350212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.502508640289307,
                "transform": {
                    "location": {
                        "x": -174.48577880859375,
                        "y": 4324.978515625,
                        "z": 373.1169738769531
                    },
                    "rotation": {
                        "roll": 4.378258381620981e-05,
                        "pitch": -0.027887661010026932,
                        "yaw": -90.024658203125
                    }
                },
                "velocity": {
                    "x": -0.003771253162994981,
                    "y": -5.502506732940674,
                    "z": -0.0028934860602021217
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003108473611064255,
                "transform": {
                    "location": {
                        "x": -211.7313995361328,
                        "y": 4302.19873046875,
                        "z": 373.22320556640625
                    },
                    "rotation": {
                        "roll": 0.0005831867456436157,
                        "pitch": -0.21758931875228882,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 0.0002009986637858674,
                    "y": -6.448291287597385e-07,
                    "z": 0.0002371185546508059
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005054999492131174,
                "transform": {
                    "location": {
                        "x": -209.88922119140625,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.23818917572498322,
                        "yaw": 0.006557970307767391
                    }
                },
                "velocity": {
                    "x": -0.00038836701423861086,
                    "y": -0.00028378627030178905,
                    "z": 0.00015545608766842633
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.090129375457764,
                "transform": {
                    "location": {
                        "x": -174.10671997070312,
                        "y": 4309.09130859375,
                        "z": 373.101318359375
                    },
                    "rotation": {
                        "roll": -0.0399780236184597,
                        "pitch": -0.13680867850780487,
                        "yaw": -84.7666244506836
                    }
                },
                "velocity": {
                    "x": 0.410346657037735,
                    "y": -4.069488525390625,
                    "z": -0.006070069968700409
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001641011331230402,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.2889579011243768e-05,
                    "y": 1.2220200915180612e-05,
                    "z": 0.0016409152885898948
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001066004391759634,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.1394209650461562e-05,
                    "y": 5.496375251823338e-06,
                    "z": 0.0010659293038770556
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.24613094329834,
                "transform": {
                    "location": {
                        "x": -193.5426483154297,
                        "y": 4295.298828125,
                        "z": 373.1451721191406
                    },
                    "rotation": {
                        "roll": -0.010040280409157276,
                        "pitch": 0.209208682179451,
                        "yaw": 178.145263671875
                    }
                },
                "velocity": {
                    "x": -8.242032051086426,
                    "y": 0.25840193033218384,
                    "z": 0.02857765182852745
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.7647070459788665e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 1.1644808182609268e-05,
                    "y": -1.7898360965773463e-05,
                    "z": 4.259448905941099e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001002030330710113,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0005718527245335281,
                        "pitch": 0.22330619394779205,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.06453144326224e-05,
                    "y": -4.096816701348871e-05,
                    "z": 0.0010011359117925167
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008018164080567658,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2241825061209965e-05,
                    "y": 9.33327100938186e-06,
                    "z": 0.0008016686188057065
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010441640188219026,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": 1.504985357314581e-05,
                        "pitch": -0.2100214809179306,
                        "yaw": -0.0813903883099556
                    }
                },
                "velocity": {
                    "x": 3.089956953772344e-05,
                    "y": -2.6072579203173518e-05,
                    "z": -9.627160761738196e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.521809697151184,
                "transform": {
                    "location": {
                        "x": -221.38421630859375,
                        "y": 4295.671875,
                        "z": 373.28924560546875
                    },
                    "rotation": {
                        "roll": -0.0020751948468387127,
                        "pitch": 0.31761062145233154,
                        "yaw": 179.73634338378906
                    }
                },
                "velocity": {
                    "x": -1.521767497062683,
                    "y": -0.009081601165235043,
                    "z": 0.006773414555937052
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09110528975725174,
                "transform": {
                    "location": {
                        "x": -177.31085205078125,
                        "y": 4244.75537109375,
                        "z": 372.9306640625
                    },
                    "rotation": {
                        "roll": 0.001305563491769135,
                        "pitch": 0.22665981948375702,
                        "yaw": 90.57308197021484
                    }
                },
                "velocity": {
                    "x": 4.118734796065837e-05,
                    "y": -0.0003854757233057171,
                    "z": 0.09110447019338608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9807486534118652,
                "transform": {
                    "location": {
                        "x": -109.89656066894531,
                        "y": 4294.92236328125,
                        "z": 372.8455505371094
                    },
                    "rotation": {
                        "roll": 0.00038193303043954074,
                        "pitch": 0.2717595398426056,
                        "yaw": 179.55911254882812
                    }
                },
                "velocity": {
                    "x": -1.9807049036026,
                    "y": 0.009753282181918621,
                    "z": 0.008833160623908043
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.023684024810791,
                "transform": {
                    "location": {
                        "x": -219.8114776611328,
                        "y": 4298.97509765625,
                        "z": 373.2536315917969
                    },
                    "rotation": {
                        "roll": -0.0008239745511673391,
                        "pitch": -0.21652381122112274,
                        "yaw": 0.03608674556016922
                    }
                },
                "velocity": {
                    "x": 1.0236759185791016,
                    "y": 0.001156460726633668,
                    "z": -0.003906583879143
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003325874567963183,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 8.05709532869514e-06,
                    "y": 5.855131917087419e-07,
                    "z": -0.00033248934778384864
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00044317051651887596,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.3041793863521889e-05,
                    "y": 2.6264562620781362e-05,
                    "z": 0.00044219926348887384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00046479832963086665,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.2174254059791565,
                        "yaw": 179.4639129638672
                    }
                },
                "velocity": {
                    "x": 1.1179596185684204e-05,
                    "y": -1.3050003872194793e-05,
                    "z": 0.00046448057400994003
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013352205860428512,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.20601215958595276,
                        "yaw": 179.51280212402344
                    }
                },
                "velocity": {
                    "x": 2.8648598799918545e-06,
                    "y": -2.228951416327618e-06,
                    "z": -0.00013347271305974573
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02713988535106182,
        "expert_target_speed": 0.0,
        "target_point": [
            25.499151809198523,
            0.5205933054881422
        ],
        "target_point_next": [
            36.49602044867683,
            0.7822448078123718
        ]
    },
    "715": {
        "acceleration": [
            0.23909153044223785,
            -0.002631603740155697,
            0.009117890149354935
        ],
        "angular_velocity": [
            -0.009020095691084862,
            -0.03356148302555084,
            -0.013936340808868408
        ],
        "forward_vector": [
            -0.9995520710945129,
            0.02971947193145752,
            0.0035164281725883484
        ],
        "right_vector": [
            -0.029719363898038864,
            -0.9995582699775696,
            8.309011172968894e-05
        ],
        "location": [
            -160.8192901611328,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.0047607421875,
            0.20147690176963806,
            178.29693603515625
        ],
        "velocity": [
            0.014996803365647793,
            -0.00033150980016216636,
            -0.0013060187920928001
        ],
        "speed": 0.015000466990580944,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.705535888671875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.963254574860912e-06,
                -5.290486910780601e-07,
                7.74538129917346e-05
            ],
            "speed_kmh": 0.00028031002935889794,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4633569717407227,
                "transform": {
                    "location": {
                        "x": -174.49867248535156,
                        "y": 4339.9501953125,
                        "z": 373.12689208984375
                    },
                    "rotation": {
                        "roll": 0.003902249038219452,
                        "pitch": 0.168070450425148,
                        "yaw": -89.17268371582031
                    }
                },
                "velocity": {
                    "x": 0.017523525282740593,
                    "y": -2.463294267654419,
                    "z": 0.0013752650702372193
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004408476233948022,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835205078125
                    },
                    "rotation": {
                        "roll": 3.419782660785131e-05,
                        "pitch": 0.1933080106973648,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": -4.196064651296183e-07,
                    "y": -8.609890755906235e-06,
                    "z": 0.0004407633387017995
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.971774578094482,
                "transform": {
                    "location": {
                        "x": -174.4871063232422,
                        "y": 4323.505859375,
                        "z": 373.1158752441406
                    },
                    "rotation": {
                        "roll": 0.00014204659964889288,
                        "pitch": -0.03076316975057125,
                        "yaw": -90.0442123413086
                    }
                },
                "velocity": {
                    "x": -0.005086390767246485,
                    "y": -5.971769332885742,
                    "z": -0.005862703081220388
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00014864772674627602,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": -1.907151090563275e-05,
                    "y": -1.6861844414961524e-05,
                    "z": 0.00014645169721916318
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002118978591170162,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -3.762826236197725e-05,
                    "y": 9.188395051751286e-05,
                    "z": -0.00018719550280366093
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.723411560058594,
                "transform": {
                    "location": {
                        "x": -173.94937133789062,
                        "y": 4308.0263671875,
                        "z": 373.0990905761719
                    },
                    "rotation": {
                        "roll": -0.4456481635570526,
                        "pitch": 0.03637758642435074,
                        "yaw": -82.65579986572266
                    }
                },
                "velocity": {
                    "x": 0.9665719270706177,
                    "y": -4.623453140258789,
                    "z": -0.005890684202313423
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010926140239462256,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.0427534107293468e-05,
                    "y": 2.4108646812237566e-06,
                    "z": 0.0010925616370514035
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010611184407025576,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.3643540114571806e-05,
                    "y": 3.1340365239884704e-05,
                    "z": 0.0010605677962303162
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.849090576171875,
                "transform": {
                    "location": {
                        "x": -195.67929077148438,
                        "y": 4295.3623046875,
                        "z": 373.15264892578125
                    },
                    "rotation": {
                        "roll": -0.013580322265625,
                        "pitch": 0.22317641973495483,
                        "yaw": 178.9586639404297
                    }
                },
                "velocity": {
                    "x": -8.847167015075684,
                    "y": 0.18203367292881012,
                    "z": 0.029980439692735672
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.094447336276062e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -2.1060438939457526e-06,
                    "y": -4.2676924749684986e-06,
                    "z": 2.0396624677232467e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012361145345494151,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.2246705409779679e-05,
                    "y": 9.349753781862091e-06,
                    "z": 0.0012360184919089079
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.78639005147852e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.963254574860912e-06,
                    "y": -5.290486910780601e-07,
                    "z": 7.74538129917346e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.38574958126992e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": -0.20980973541736603,
                        "yaw": -0.081390380859375
                    }
                },
                "velocity": {
                    "x": 1.8435343918099534e-06,
                    "y": -3.743394336197525e-05,
                    "z": -8.604958566138521e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.502859115600586,
                "transform": {
                    "location": {
                        "x": -221.8806915283203,
                        "y": 4295.67041015625,
                        "z": 373.2910461425781
                    },
                    "rotation": {
                        "roll": -0.0023498530499637127,
                        "pitch": 0.3266606032848358,
                        "yaw": 179.87100219726562
                    }
                },
                "velocity": {
                    "x": -2.5027873516082764,
                    "y": -0.01637391187250614,
                    "z": 0.00952068343758583
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.147416114807129,
                "transform": {
                    "location": {
                        "x": -177.31655883789062,
                        "y": 4244.98388671875,
                        "z": 372.9407653808594
                    },
                    "rotation": {
                        "roll": 0.007120720110833645,
                        "pitch": 0.039751697331666946,
                        "yaw": 90.61676025390625
                    }
                },
                "velocity": {
                    "x": -0.05439060926437378,
                    "y": 2.146707057952881,
                    "z": 0.00931346882134676
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1405123472213745,
                "transform": {
                    "location": {
                        "x": -110.12850952148438,
                        "y": 4294.923828125,
                        "z": 372.8464660644531
                    },
                    "rotation": {
                        "roll": 0.0011269849492236972,
                        "pitch": 0.16678638756275177,
                        "yaw": 179.50018310546875
                    }
                },
                "velocity": {
                    "x": -1.1404820680618286,
                    "y": 0.0076994262635707855,
                    "z": 0.003144874470308423
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001420334680005908,
                "transform": {
                    "location": {
                        "x": -219.79522705078125,
                        "y": 4298.97509765625,
                        "z": 373.2529296875
                    },
                    "rotation": {
                        "roll": -0.0011291502742096782,
                        "pitch": -0.13024486601352692,
                        "yaw": 0.049817897379398346
                    }
                },
                "velocity": {
                    "x": -0.0007143947295844555,
                    "y": -2.6195792088401504e-05,
                    "z": -0.0012273159809410572
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00015517316933255643,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 2.0002200926683145e-06,
                    "y": -1.5459792848560028e-05,
                    "z": 0.00015438816626556218
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007535494514741004,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 8.322037501784507e-06,
                    "y": 1.0646826012816746e-05,
                    "z": 0.0007534282631240785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013414918794296682,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 9.090305684367195e-05,
                        "pitch": 0.21788302063941956,
                        "yaw": 179.46392822265625
                    }
                },
                "velocity": {
                    "x": 6.573907739948481e-06,
                    "y": 3.916689365723869e-06,
                    "z": 0.00013393076369538903
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009430795907974243,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0024719233624637127,
                        "pitch": 0.20585505664348602,
                        "yaw": 179.51284790039062
                    }
                },
                "velocity": {
                    "x": 5.304850674292538e-06,
                    "y": 8.32063869893318e-06,
                    "z": -0.0009430279606021941
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02882932312786579,
        "expert_target_speed": 0.0,
        "target_point": [
            25.50158383339237,
            0.5203249583322382
        ],
        "target_point_next": [
            36.49845596531496,
            0.781829636596598
        ]
    },
    "720": {
        "acceleration": [
            -0.2381080687046051,
            0.008065888658165932,
            0.0035747536458075047
        ],
        "angular_velocity": [
            0.022393418475985527,
            0.0489966943860054,
            0.0202511977404356
        ],
        "forward_vector": [
            -0.9995524287223816,
            0.02970612421631813,
            0.003531567519530654
        ],
        "right_vector": [
            -0.029706092551350594,
            -0.999558687210083,
            6.178495823405683e-05
        ],
        "location": [
            -160.81703186035156,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.0035400392953306437,
            0.20234434306621552,
            178.29769897460938
        ],
        "velocity": [
            2.9348429961828515e-05,
            4.899616396869533e-05,
            -0.0014656448038294911
        ],
        "speed": 5.71135222593707e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.707794189453125,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0270215170748997e-05,
                4.649612492357846e-06,
                0.000919995887670666
            ],
            "speed_kmh": 0.0033122338539010305,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.010766983032227,
                "transform": {
                    "location": {
                        "x": -174.49351501464844,
                        "y": 4339.13671875,
                        "z": 373.12701416015625
                    },
                    "rotation": {
                        "roll": 0.008126429282128811,
                        "pitch": 0.29117095470428467,
                        "yaw": -89.38677978515625
                    }
                },
                "velocity": {
                    "x": 0.022852662950754166,
                    "y": -4.010701656341553,
                    "z": 0.0012757109943777323
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011716182343661785,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835510253906
                    },
                    "rotation": {
                        "roll": 0.00017542477871757,
                        "pitch": 0.1931031048297882,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": 5.019924174121115e-07,
                    "y": -1.1283344974799547e-05,
                    "z": 0.0011715637519955635
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.295249938964844,
                "transform": {
                    "location": {
                        "x": -174.4890594482422,
                        "y": 4321.89794921875,
                        "z": 373.11468505859375
                    },
                    "rotation": {
                        "roll": -3.0517410777974874e-05,
                        "pitch": -0.03906184807419777,
                        "yaw": -90.04158782958984
                    }
                },
                "velocity": {
                    "x": -0.004854836966842413,
                    "y": -6.295245170593262,
                    "z": -0.0060330103151500225
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00030057530966587365,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": -3.6267190353100887e-06,
                    "y": -9.349384527013171e-06,
                    "z": 0.0003004079917445779
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00021249736892059445,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -9.571239388606045e-06,
                    "y": -5.261413662083214e-06,
                    "z": 0.00021221650240477175
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.237367153167725,
                "transform": {
                    "location": {
                        "x": -173.5899200439453,
                        "y": 4306.79541015625,
                        "z": 373.0972900390625
                    },
                    "rotation": {
                        "roll": -0.9884032607078552,
                        "pitch": 0.1259896606206894,
                        "yaw": -76.0589370727539
                    }
                },
                "velocity": {
                    "x": 1.9616419076919556,
                    "y": -4.856123447418213,
                    "z": -0.006287841591984034
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014529285253956914,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.4841556549072266e-05,
                    "y": 3.7364476156653836e-05,
                    "z": 0.0014523721765726805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013639269163832068,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 9.354948815598618e-06,
                    "y": 4.077037738170475e-05,
                    "z": 0.0013632853515446186
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.429719924926758,
                "transform": {
                    "location": {
                        "x": -197.9656219482422,
                        "y": 4295.40576171875,
                        "z": 373.1607360839844
                    },
                    "rotation": {
                        "roll": -0.00918578915297985,
                        "pitch": 0.22682373225688934,
                        "yaw": 179.4629364013672
                    }
                },
                "velocity": {
                    "x": -9.428744316101074,
                    "y": 0.13149987161159515,
                    "z": 0.032983578741550446
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00015422512660734355,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -1.2500224329414777e-05,
                    "y": 2.9797665774822235e-06,
                    "z": 0.00015368883032351732
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008958463440649211,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.0764412763819564e-05,
                    "y": -1.2201478057249915e-05,
                    "z": 0.0008956985548138618
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009200649801641703,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0270215170748997e-05,
                    "y": 4.649612492357846e-06,
                    "z": 0.000919995887670666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019298943516332656,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": -0.20993268489837646,
                        "yaw": -0.0813903883099556
                    }
                },
                "velocity": {
                    "x": 1.7552263670950197e-05,
                    "y": -2.8304741135798395e-05,
                    "z": 0.0001900938805192709
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.859611988067627,
                "transform": {
                    "location": {
                        "x": -222.67623901367188,
                        "y": 4295.6669921875,
                        "z": 373.29388427734375
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": 0.36085253953933716,
                        "yaw": -179.9497833251953
                    }
                },
                "velocity": {
                    "x": -3.8594982624053955,
                    "y": -0.025806695222854614,
                    "z": 0.014588775113224983
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3532984256744385,
                "transform": {
                    "location": {
                        "x": -177.325927734375,
                        "y": 4245.6875,
                        "z": 372.9425354003906
                    },
                    "rotation": {
                        "roll": 0.0002792409504763782,
                        "pitch": 0.08071917295455933,
                        "yaw": 90.66279602050781
                    }
                },
                "velocity": {
                    "x": -0.04611511901021004,
                    "y": 3.35296368598938,
                    "z": 0.010887403041124344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1015920639038086,
                "transform": {
                    "location": {
                        "x": -110.53382873535156,
                        "y": 4294.92626953125,
                        "z": 372.8482666015625
                    },
                    "rotation": {
                        "roll": 2.0844452552903903e-10,
                        "pitch": 0.3407786190509796,
                        "yaw": 179.46095275878906
                    }
                },
                "velocity": {
                    "x": -2.1015286445617676,
                    "y": 0.01449601724743843,
                    "z": 0.007512988988310099
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011657829600153491,
                "transform": {
                    "location": {
                        "x": -219.79562377929688,
                        "y": 4298.97509765625,
                        "z": 373.25347900390625
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.20386064052581787,
                        "yaw": 0.04980885237455368
                    }
                },
                "velocity": {
                    "x": -7.647618622286245e-05,
                    "y": -2.253173261124175e-05,
                    "z": -8.505418372806162e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.515614273259416e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 6.840750188530365e-07,
                    "y": 3.9967828342923895e-05,
                    "z": -2.1004332666052505e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00013294281961861998,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 6.099976417317521e-06,
                    "y": -1.1340437595208641e-05,
                    "z": 0.00013231771299615502
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001618314126972109,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 9.667575795901939e-05,
                        "pitch": 0.21756882965564728,
                        "yaw": 179.46392822265625
                    }
                },
                "velocity": {
                    "x": 4.85613918499439e-06,
                    "y": 8.098643775156233e-06,
                    "z": -0.00016155566845554858
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009341260883957148,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002960204379633069,
                        "pitch": 0.20561599731445312,
                        "yaw": 179.51284790039062
                    }
                },
                "velocity": {
                    "x": 3.0175594929460203e-06,
                    "y": -8.072748300946841e-07,
                    "z": -0.0009341208497062325
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02821224555373192,
        "expert_target_speed": 0.0,
        "target_point": [
            25.5038478343769,
            0.5200637214710597
        ],
        "target_point_next": [
            36.50072333215709,
            0.7814268193478247
        ]
    },
    "725": {
        "acceleration": [
            0.18015918135643005,
            -0.004004751797765493,
            -0.006784629076719284
        ],
        "angular_velocity": [
            -0.0046644010581076145,
            -0.03180282935500145,
            -0.006581850815564394
        ],
        "forward_vector": [
            -0.9995531439781189,
            0.029683249071240425,
            0.0035260841250419617
        ],
        "right_vector": [
            -0.029683170840144157,
            -0.9995593428611755,
            7.456803723471239e-05
        ],
        "location": [
            -160.81600952148438,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.004272460471838713,
            0.20203015208244324,
            178.29901123046875
        ],
        "velocity": [
            0.009177633561193943,
            -0.00016546243568882346,
            -0.0017175959656015038
        ],
        "speed": 0.009179124991042311,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70881652832031,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.042399526340887e-05,
                -6.959818620089209e-06,
                0.0002473423373885453
            ],
            "speed_kmh": 0.0008915749462609823,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.424782752990723,
                "transform": {
                    "location": {
                        "x": -174.4890594482422,
                        "y": 4337.947265625,
                        "z": 373.1274108886719
                    },
                    "rotation": {
                        "roll": 0.011980048380792141,
                        "pitch": 0.299858957529068,
                        "yaw": -89.63201141357422
                    }
                },
                "velocity": {
                    "x": 0.015429524704813957,
                    "y": -5.424759864807129,
                    "z": 0.0026582907885313034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00045713118743151426,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835510253906
                    },
                    "rotation": {
                        "roll": -3.0515908292727545e-05,
                        "pitch": 0.19305528700351715,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": 7.085174274834571e-06,
                    "y": -6.496607966255397e-06,
                    "z": 0.000457030109828338
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.693713665008545,
                "transform": {
                    "location": {
                        "x": -174.4910125732422,
                        "y": 4320.41845703125,
                        "z": 373.1135559082031
                    },
                    "rotation": {
                        "roll": -0.00042724391096271574,
                        "pitch": -0.06246890500187874,
                        "yaw": -90.04254913330078
                    }
                },
                "velocity": {
                    "x": -0.004403082653880119,
                    "y": -5.693708896636963,
                    "z": -0.005785140674561262
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.011128375073895e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.3137906535121147e-05,
                    "y": -1.5110954336705618e-05,
                    "z": 7.756850391160697e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00031238526571542025,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -6.259456313273404e-06,
                    "y": -4.068707312399056e-06,
                    "z": -0.0003122960333712399
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.504056930541992,
                "transform": {
                    "location": {
                        "x": -172.95944213867188,
                        "y": 4305.55419921875,
                        "z": 373.0948791503906
                    },
                    "rotation": {
                        "roll": -1.6386109590530396,
                        "pitch": 0.270871639251709,
                        "yaw": -65.70751953125
                    }
                },
                "velocity": {
                    "x": 3.621710777282715,
                    "y": -5.402395725250244,
                    "z": -0.009490642696619034
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001319506554864347,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 5.867183062946424e-06,
                    "y": 4.341457952250494e-06,
                    "z": 0.001319486298598349
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 10.09837818145752,
                "transform": {
                    "location": {
                        "x": -200.41030883789062,
                        "y": 4295.43603515625,
                        "z": 373.16949462890625
                    },
                    "rotation": {
                        "roll": -0.006072997581213713,
                        "pitch": 0.22890694439411163,
                        "yaw": 179.6005859375
                    }
                },
                "velocity": {
                    "x": -10.09781265258789,
                    "y": 0.10041990876197815,
                    "z": 0.03660836070775986
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.554766797402408e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 2.2495998564409092e-05,
                    "y": -1.2039299690513872e-05,
                    "z": 1.291757371291169e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014047451550140977,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.0534897228353657e-05,
                    "y": 1.9237142623751424e-05,
                    "z": 0.0014045739080756903
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00024765971465967596,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.042399526340887e-05,
                    "y": -6.959818620089209e-06,
                    "z": 0.0002473423373885453
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001519504439784214,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -3.0517596314894035e-05,
                        "pitch": -0.2097482681274414,
                        "yaw": -0.0814208984375
                    }
                },
                "velocity": {
                    "x": -6.392597811100131e-07,
                    "y": 5.4231051763053983e-05,
                    "z": -0.00014194197137840092
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.158361911773682,
                "transform": {
                    "location": {
                        "x": -223.81092834472656,
                        "y": 4295.66015625,
                        "z": 373.29840087890625
                    },
                    "rotation": {
                        "roll": -0.0018920903094112873,
                        "pitch": 0.3661186099052429,
                        "yaw": -179.7867889404297
                    }
                },
                "velocity": {
                    "x": -5.158175945281982,
                    "y": -0.0359627865254879,
                    "z": 0.02504892274737358
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4781718254089355,
                "transform": {
                    "location": {
                        "x": -177.33914184570312,
                        "y": 4246.671875,
                        "z": 372.9458923339844
                    },
                    "rotation": {
                        "roll": 0.001434789039194584,
                        "pitch": 0.10604551434516907,
                        "yaw": 90.71125030517578
                    }
                },
                "velocity": {
                    "x": -0.06178034096956253,
                    "y": 4.477715492248535,
                    "z": 0.016390360891819
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9723459482192993,
                "transform": {
                    "location": {
                        "x": -111.05046844482422,
                        "y": 4294.9296875,
                        "z": 372.8500671386719
                    },
                    "rotation": {
                        "roll": 0.00012956625141669065,
                        "pitch": 0.15604248642921448,
                        "yaw": 179.3446044921875
                    }
                },
                "velocity": {
                    "x": -0.9723261594772339,
                    "y": 0.004619173239916563,
                    "z": 0.004137649666517973
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007409320096485317,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": -3.8817561289761215e-05,
                    "y": -0.0001411408738931641,
                    "z": -0.0007263282313942909
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.472031989484094e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.0004601790569723e-05,
                    "y": 8.077386723925883e-07,
                    "z": 5.379190406529233e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007125501870177686,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 8.865185009199195e-06,
                    "y": -8.222309588745702e-06,
                    "z": 0.0007124476251192391
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005083185969851911,
                "transform": {
                    "location": {
                        "x": -140.86788940429688,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.001365946838632226,
                        "pitch": 0.21710437536239624,
                        "yaw": 179.46397399902344
                    }
                },
                "velocity": {
                    "x": 7.500052106479416e-06,
                    "y": -7.445149549312191e-06,
                    "z": 0.0005082087591290474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003895404515787959,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002960204379633069,
                        "pitch": 0.20561599731445312,
                        "yaw": 179.51284790039062
                    }
                },
                "velocity": {
                    "x": 1.04231385193998e-05,
                    "y": 1.7944746559805935e-06,
                    "z": 0.00038939682417549193
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.027356594800949097,
        "expert_target_speed": 0.0,
        "target_point": [
            25.504881867100508,
            0.5194981695126759
        ],
        "target_point_next": [
            36.50176346863317,
            0.7806043250939099
        ]
    },
    "730": {
        "acceleration": [
            -0.18531881272792816,
            0.008138813078403473,
            0.001234628725796938
        ],
        "angular_velocity": [
            -0.026073290035128593,
            0.022285105660557747,
            -0.011151720769703388
        ],
        "forward_vector": [
            -0.9995517730712891,
            0.029727334156632423,
            0.0035297798458486795
        ],
        "right_vector": [
            -0.029727237299084663,
            -0.9995580315589905,
            8.042698027566075e-05
        ],
        "location": [
            -160.81507873535156,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.004608155228197575,
            0.2022418975830078,
            178.29649353027344
        ],
        "velocity": [
            -0.001881173811852932,
            0.00020998145919293165,
            -0.0012734316987916827
        ],
        "speed": 0.0018928568682301584,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.709747314453125,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3403408047452103e-05,
                5.014670023228973e-06,
                0.0011026550782844424
            ],
            "speed_kmh": 0.003969892585232302,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.268495559692383,
                "transform": {
                    "location": {
                        "x": -174.486083984375,
                        "y": 4336.5400390625,
                        "z": 373.12725830078125
                    },
                    "rotation": {
                        "roll": 0.010187863372266293,
                        "pitch": 0.2317141592502594,
                        "yaw": -89.85063934326172
                    }
                },
                "velocity": {
                    "x": 0.008182408288121223,
                    "y": -6.268489837646484,
                    "z": -0.0021865463349968195
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00018987865769304335,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835510253906
                    },
                    "rotation": {
                        "roll": 0.0002325679233763367,
                        "pitch": 0.19308260083198547,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": -8.472015622373874e-08,
                    "y": -7.576793450425612e-06,
                    "z": 0.0001897274050861597
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.515285491943359,
                "transform": {
                    "location": {
                        "x": -174.4929656982422,
                        "y": 4319.0146484375,
                        "z": 373.1122131347656
                    },
                    "rotation": {
                        "roll": 0.0005607728380709887,
                        "pitch": -0.0632680356502533,
                        "yaw": -90.04330444335938
                    }
                },
                "velocity": {
                    "x": -0.004177036229521036,
                    "y": -5.5152812004089355,
                    "z": -0.0053490446880459785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017513270722702146,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.1428147445258219e-05,
                    "y": -7.147294127207715e-06,
                    "z": -0.00017461323295719922
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.958219405030832e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -1.7688385923975147e-05,
                    "y": -1.6578081840634695e-06,
                    "z": -8.780285861575976e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.751866817474365,
                "transform": {
                    "location": {
                        "x": -171.81881713867188,
                        "y": 4304.19091796875,
                        "z": 373.0900573730469
                    },
                    "rotation": {
                        "roll": -2.266662836074829,
                        "pitch": 0.3106301426887512,
                        "yaw": -51.119224548339844
                    }
                },
                "velocity": {
                    "x": 5.734717845916748,
                    "y": -5.215754985809326,
                    "z": -0.018873171880841255
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015128193190321326,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.9592009266489185e-05,
                    "y": -2.7062797016697004e-05,
                    "z": 0.001512450398877263
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.918535232543945,
                "transform": {
                    "location": {
                        "x": -202.9558563232422,
                        "y": 4295.45849609375,
                        "z": 373.1789855957031
                    },
                    "rotation": {
                        "roll": -0.003967284224927425,
                        "pitch": 0.21529437601566315,
                        "yaw": 179.6667022705078
                    }
                },
                "velocity": {
                    "x": -9.918155670166016,
                    "y": 0.07877210527658463,
                    "z": 0.03636283800005913
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.629610677715391e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 3.912646570825018e-05,
                    "y": -1.9289720512460917e-05,
                    "z": 3.558480239007622e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007675072993151844,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 5.114115538162878e-06,
                    "y": 1.2553808801385458e-06,
                    "z": 0.0007674892549403012
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011027478612959385,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3403408047452103e-05,
                    "y": 5.014670023228973e-06,
                    "z": 0.0011026550782844424
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002825473784469068,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": -0.21008294820785522,
                        "yaw": -0.0814209058880806
                    }
                },
                "velocity": {
                    "x": 1.1797994403650591e-07,
                    "y": 2.58625004789792e-06,
                    "z": 0.0002825355331879109
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.501430511474609,
                "transform": {
                    "location": {
                        "x": -225.1363983154297,
                        "y": 4295.65380859375,
                        "z": 373.3042907714844
                    },
                    "rotation": {
                        "roll": 0.009700516238808632,
                        "pitch": 0.28663569688796997,
                        "yaw": -179.92608642578125
                    }
                },
                "velocity": {
                    "x": -5.501384258270264,
                    "y": -0.005245898384600878,
                    "z": 0.0220065675675869
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.175756931304932,
                "transform": {
                    "location": {
                        "x": -177.35585021972656,
                        "y": 4247.91552734375,
                        "z": 372.95068359375
                    },
                    "rotation": {
                        "roll": 0.0026051776949316263,
                        "pitch": 0.13862551748752594,
                        "yaw": 90.7420425415039
                    }
                },
                "velocity": {
                    "x": -0.07091716676950455,
                    "y": 5.175230979919434,
                    "z": 0.020395230501890182
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0019189311424270272,
                "transform": {
                    "location": {
                        "x": -111.0628890991211,
                        "y": 4294.9296875,
                        "z": 372.85003662109375
                    },
                    "rotation": {
                        "roll": 0.0009002812439575791,
                        "pitch": 0.08355370163917542,
                        "yaw": 179.33499145507812
                    }
                },
                "velocity": {
                    "x": 0.0017178007401525974,
                    "y": -0.00012108442024327815,
                    "z": 0.0008466380531899631
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.654411067254841e-05,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 5.451217020890908e-06,
                    "y": 2.980482531711459e-05,
                    "z": -8.106688619591296e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00013662166020367295,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 2.0253285129001597e-06,
                    "y": -2.596030208223965e-05,
                    "z": 0.00013411726104095578
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00037770840572193265,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 9.123086783802137e-06,
                    "y": -1.1856718629132956e-05,
                    "z": 0.0003774120123125613
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00037863096804358065,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.0011099535040557384,
                        "pitch": 0.21721366047859192,
                        "yaw": 179.46397399902344
                    }
                },
                "velocity": {
                    "x": 4.644468390324619e-06,
                    "y": 2.1136938812560402e-05,
                    "z": 0.00037801198777742684
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005136028630658984,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0022888181265443563,
                        "pitch": 0.2058277428150177,
                        "yaw": 179.5128631591797
                    }
                },
                "velocity": {
                    "x": 3.66378571925452e-06,
                    "y": 8.888682145880011e-07,
                    "z": -0.000513589009642601
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.027700714766979218,
        "expert_target_speed": 0.0,
        "target_point": [
            25.505789179197958,
            0.5206568746257094
        ],
        "target_point_next": [
            36.502659190941735,
            0.782250696074837
        ]
    },
    "735": {
        "acceleration": [
            0.17649880051612854,
            -0.0038668361958116293,
            -2.4796463549137115e-06
        ],
        "angular_velocity": [
            -0.0013090746942907572,
            -0.03731239587068558,
            -0.011645711027085781
        ],
        "forward_vector": [
            -0.9995517134666443,
            0.02972995676100254,
            0.0035309714730829
        ],
        "right_vector": [
            -0.029729876667261124,
            -0.9995579719543457,
            7.563329563708976e-05
        ],
        "location": [
            -160.8152313232422,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.004333495628088713,
            0.20231018960475922,
            178.2963409423828
        ],
        "velocity": [
            0.0012726938584819436,
            -9.92825243883999e-06,
            -0.00021495818509720266
        ],
        "speed": 0.001272732582915259,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.7095947265625,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3677254173671827e-05,
                3.2828611438162625e-06,
                0.0011414873879402876
            ],
            "speed_kmh": 0.004109666563684148,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.533254146575928,
                "transform": {
                    "location": {
                        "x": -174.484130859375,
                        "y": 4334.8916015625,
                        "z": 373.12701416015625
                    },
                    "rotation": {
                        "roll": 0.005509210284799337,
                        "pitch": 0.2733305096626282,
                        "yaw": -89.93180847167969
                    }
                },
                "velocity": {
                    "x": 0.005829956848174334,
                    "y": -7.533251762390137,
                    "z": -0.0017281722975894809
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009463076130487025,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835510253906
                    },
                    "rotation": {
                        "roll": 0.00028750987257808447,
                        "pitch": 0.19308944046497345,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": -3.4009062233053555e-08,
                    "y": -1.1127031939395238e-05,
                    "z": 0.0009462421876378357
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.071442604064941,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4317.7216796875,
                        "z": 373.1109313964844
                    },
                    "rotation": {
                        "roll": -0.0008544945158064365,
                        "pitch": -0.06699049472808838,
                        "yaw": -90.04204559326172
                    }
                },
                "velocity": {
                    "x": -0.0036944299936294556,
                    "y": -5.071439266204834,
                    "z": -0.004786844365298748
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.257032924215309e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.9174069620930823e-06,
                    "y": 1.1028675544366706e-05,
                    "z": 4.107219137949869e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002265375223942101,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -1.7378850998284179e-06,
                    "y": -1.1283244930382352e-05,
                    "z": 0.000226249685510993
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.321460723876953,
                "transform": {
                    "location": {
                        "x": -170.17921447753906,
                        "y": 4303.00048828125,
                        "z": 373.08209228515625
                    },
                    "rotation": {
                        "roll": -2.657989978790283,
                        "pitch": -0.08206471800804138,
                        "yaw": -34.54908752441406
                    }
                },
                "velocity": {
                    "x": 7.367037296295166,
                    "y": -3.86885666847229,
                    "z": -0.07363228499889374
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015132633270695806,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.3968347957415972e-05,
                    "y": -1.0738125638454221e-05,
                    "z": 0.001513160765171051
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000910721137188375,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": -3.1590460025654465e-08,
                    "y": -2.048237183771562e-05,
                    "z": 0.0009104908094741404
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.986144065856934,
                "transform": {
                    "location": {
                        "x": -205.3075714111328,
                        "y": 4295.47607421875,
                        "z": 373.1881103515625
                    },
                    "rotation": {
                        "roll": -0.0025634765625,
                        "pitch": 0.18411457538604736,
                        "yaw": 179.7088623046875
                    }
                },
                "velocity": {
                    "x": -8.98587703704834,
                    "y": 0.060770656913518906,
                    "z": 0.0332881361246109
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00015744517440907657,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 8.348451956408098e-05,
                    "y": 1.081081063603051e-05,
                    "z": -0.00013305053289514035
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003982309135608375,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.5141367839532904e-05,
                    "y": -3.1907497032079846e-05,
                    "z": 0.0003966617223341018
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011415740009397268,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3677254173671827e-05,
                    "y": 3.2828611438162625e-06,
                    "z": 0.0011414873879402876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2903654351248406e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": -0.21008294820785522,
                        "yaw": -0.0814209058880806
                    }
                },
                "velocity": {
                    "x": 5.9354674704081845e-06,
                    "y": -1.1575189517998297e-07,
                    "z": 1.1456924767117016e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.917303085327148,
                "transform": {
                    "location": {
                        "x": -226.597412109375,
                        "y": 4295.65185546875,
                        "z": 373.3092346191406
                    },
                    "rotation": {
                        "roll": 0.004115502815693617,
                        "pitch": 0.35788822174072266,
                        "yaw": 179.97537231445312
                    }
                },
                "velocity": {
                    "x": -6.9172515869140625,
                    "y": -0.0014060747344046831,
                    "z": 0.02656424418091774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.993811845779419,
                "transform": {
                    "location": {
                        "x": -177.36483764648438,
                        "y": 4248.71630859375,
                        "z": 372.95013427734375
                    },
                    "rotation": {
                        "roll": -0.0028686753939837217,
                        "pitch": 0.544140636920929,
                        "yaw": 90.45938873291016
                    }
                },
                "velocity": {
                    "x": -0.008797582238912582,
                    "y": 0.9937657713890076,
                    "z": 0.003755807876586914
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008927418966777623,
                "transform": {
                    "location": {
                        "x": -111.06375122070312,
                        "y": 4294.9296875,
                        "z": 372.85015869140625
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 0.18974947929382324,
                        "yaw": 179.33502197265625
                    }
                },
                "velocity": {
                    "x": 0.00035793017013929784,
                    "y": 5.07690965605434e-05,
                    "z": 0.000816269894130528
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010562373790889978,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 3.000199740199605e-06,
                    "y": -1.3663450772583019e-05,
                    "z": -0.0010561447124928236
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0540813895640895e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 6.144419330667006e-06,
                    "y": -2.5957589969038963e-05,
                    "z": -1.4872489373374265e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005159521824680269,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.1385120160412043e-05,
                    "y": -3.907191057805903e-06,
                    "z": 0.0005158117855899036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00018421780259814113,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.21780788898468018,
                        "yaw": 179.46400451660156
                    }
                },
                "velocity": {
                    "x": 9.328238775196951e-06,
                    "y": 2.0687952201114967e-05,
                    "z": 0.00018281463417224586
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001651451166253537,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0022888181265443563,
                        "pitch": 0.2058277428150177,
                        "yaw": 179.5128631591797
                    }
                },
                "velocity": {
                    "x": 4.312172222853405e-06,
                    "y": -5.670884547726018e-06,
                    "z": -0.000164991375640966
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0283527709543705,
        "expert_target_speed": 0.0,
        "target_point": [
            25.505635417340002,
            0.5207131487658303
        ],
        "target_point_next": [
            36.50250480536425,
            0.782333188795442
        ]
    },
    "740": {
        "acceleration": [
            -0.18097750842571259,
            0.0031826524063944817,
            0.008450507186353207
        ],
        "angular_velocity": [
            0.018174076452851295,
            0.03043048456311226,
            0.009324517101049423
        ],
        "forward_vector": [
            -0.9995516538619995,
            0.029730910435318947,
            0.0035309714730829
        ],
        "right_vector": [
            -0.02973085828125477,
            -0.9995579123497009,
            6.764387217117473e-05
        ],
        "location": [
            -160.81625366210938,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.003875732421875,
            0.20231018960475922,
            178.29627990722656
        ],
        "velocity": [
            -0.00830475240945816,
            0.00017808092525228858,
            0.0005782413063570857
        ],
        "speed": 0.008306661507389105,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70857238769531,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.704719791945536e-06,
                -3.9584759292665694e-07,
                4.744217949337326e-05
            ],
            "speed_kmh": 0.00017303533215855043,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.40625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.7925896644592285,
                "transform": {
                    "location": {
                        "x": -174.48287963867188,
                        "y": 4332.89111328125,
                        "z": 373.12652587890625
                    },
                    "rotation": {
                        "roll": 0.004827589727938175,
                        "pitch": 0.0980541929602623,
                        "yaw": -89.97542572021484
                    }
                },
                "velocity": {
                    "x": 0.0006225303513929248,
                    "y": -7.7925896644592285,
                    "z": -0.002165575046092272
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00038297974970191717,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835510253906
                    },
                    "rotation": {
                        "roll": 8.736554445931688e-05,
                        "pitch": 0.1930416226387024,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": 6.03238959229202e-06,
                    "y": -8.471459295833483e-06,
                    "z": 0.00038283850881271064
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.229624271392822,
                "transform": {
                    "location": {
                        "x": -174.49569702148438,
                        "y": 4316.4384765625,
                        "z": 373.1094970703125
                    },
                    "rotation": {
                        "roll": 0.00030969985527917743,
                        "pitch": -0.058015622198581696,
                        "yaw": -90.04498291015625
                    }
                },
                "velocity": {
                    "x": -0.004116315860301256,
                    "y": -5.229619026184082,
                    "z": -0.00638732872903347
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018140664906241,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.4383941561391111e-05,
                    "y": 9.136145308730192e-06,
                    "z": 0.00018060454749502242
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00017345596279483289,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -2.5916731829056516e-05,
                    "y": -6.91940076649189e-05,
                    "z": -0.00015693146269768476
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.7415947914123535,
                "transform": {
                    "location": {
                        "x": -168.33834838867188,
                        "y": 4302.29638671875,
                        "z": 373.0699157714844
                    },
                    "rotation": {
                        "roll": -3.057220935821533,
                        "pitch": -0.6530070304870605,
                        "yaw": -18.3309383392334
                    }
                },
                "velocity": {
                    "x": 7.585710048675537,
                    "y": -1.5448458194732666,
                    "z": -0.05238983407616615
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011236951686441898,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.1738389730453491e-05,
                    "y": 7.71187842474319e-06,
                    "z": 0.0011236073914915323
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011375061003491282,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.2910477380501106e-05,
                    "y": 2.8344322345219553e-05,
                    "z": 0.0011370795546099544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.897756576538086,
                "transform": {
                    "location": {
                        "x": -207.19984436035156,
                        "y": 4295.4892578125,
                        "z": 373.19537353515625
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.15336506068706512,
                        "yaw": 179.75186157226562
                    }
                },
                "velocity": {
                    "x": -6.8975701332092285,
                    "y": 0.043638620525598526,
                    "z": 0.025930823758244514
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.923918019514531e-06,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 3.3864866963995155e-06,
                    "y": -5.250628873909591e-06,
                    "z": -4.873508260061499e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013724289601668715,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 6.407685305021005e-06,
                    "y": 3.158040635753423e-05,
                    "z": 0.001372050610370934
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.8065372538985685e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.704719791945536e-06,
                    "y": -3.9584759292665694e-07,
                    "z": 4.744217949337326e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008232690743170679,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": -0.21008294820785522,
                        "yaw": -0.0814209058880806
                    }
                },
                "velocity": {
                    "x": 1.0746344742074143e-05,
                    "y": -5.715159932151437e-05,
                    "z": 0.0008212125976569951
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.324824333190918,
                "transform": {
                    "location": {
                        "x": -228.57069396972656,
                        "y": 4295.65234375,
                        "z": 373.31658935546875
                    },
                    "rotation": {
                        "roll": 0.0023293111007660627,
                        "pitch": 0.3837336599826813,
                        "yaw": 179.99876403808594
                    }
                },
                "velocity": {
                    "x": -8.324760437011719,
                    "y": -0.0017081602709367871,
                    "z": 0.03273757919669151
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3909958600997925,
                "transform": {
                    "location": {
                        "x": -177.36734008789062,
                        "y": 4248.90185546875,
                        "z": 372.95306396484375
                    },
                    "rotation": {
                        "roll": 0.002080922946333885,
                        "pitch": 0.26979929208755493,
                        "yaw": 90.49212646484375
                    }
                },
                "velocity": {
                    "x": -0.020429130643606186,
                    "y": 1.39083731174469,
                    "z": 0.00487239845097065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014605605974793434,
                "transform": {
                    "location": {
                        "x": -111.06398010253906,
                        "y": 4294.9296875,
                        "z": 372.8501892089844
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": 0.21565638482570648,
                        "yaw": 179.33502197265625
                    }
                },
                "velocity": {
                    "x": 0.00015600128972437233,
                    "y": -0.0001651780039537698,
                    "z": 0.001442780951038003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.352382039651275e-05,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 2.0321831470937468e-05,
                    "y": -2.2597083443542942e-05,
                    "z": -8.844828698784113e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012022961163893342,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 8.697882549313363e-06,
                    "y": -1.122369030781556e-05,
                    "z": 0.0012022122973576188
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008689668029546738,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.2478380995162297e-05,
                    "y": 7.681999704800546e-06,
                    "z": 0.0008688432280905545
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.607327956473455e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00022413812985178083,
                        "pitch": 0.21769177913665771,
                        "yaw": 179.46400451660156
                    }
                },
                "velocity": {
                    "x": 3.988295702583855e-06,
                    "y": 5.869419965165434e-06,
                    "z": -9.581085032550618e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010325934272259474,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0022888181265443563,
                        "pitch": 0.2058277428150177,
                        "yaw": 179.5128631591797
                    }
                },
                "velocity": {
                    "x": 4.392191840452142e-06,
                    "y": 8.35326500236988e-06,
                    "z": -0.0010325503535568714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.028404057025909424,
        "expert_target_speed": 0.0,
        "target_point": [
            25.504612785504893,
            0.5207192395373303
        ],
        "target_point_next": [
            36.501481799267424,
            0.7823550107145187
        ]
    },
    "745": {
        "acceleration": [
            0.24180354177951813,
            0.001110235694795847,
            -0.0015241620130836964
        ],
        "angular_velocity": [
            0.013536719605326653,
            -0.0498918816447258,
            -0.008738134056329727
        ],
        "forward_vector": [
            -0.9995505213737488,
            0.029770947992801666,
            0.003523223102092743
        ],
        "right_vector": [
            -0.02977093867957592,
            -0.9995567202568054,
            5.486077134264633e-05
        ],
        "location": [
            -160.8171844482422,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.0031433100812137127,
            0.20186622440814972,
            178.2939910888672
        ],
        "velocity": [
            0.0034611832816153765,
            4.170631291344762e-05,
            0.00017810821009334177
        ],
        "speed": 0.0034614345473330302,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.7076416015625,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2133717063989025e-05,
                1.3579561937149265e-06,
                0.0010008784011006355
            ],
            "speed_kmh": 0.003603430326539217,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.054192304611206055,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.0652770996094
                    },
                    "rotation": {
                        "roll": -9.155222505796701e-05,
                        "pitch": 0.030496792867779732,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.00019390392117202282,
                    "y": -3.413120793993585e-05,
                    "z": -0.0541919507086277
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.534382343292236,
                "transform": {
                    "location": {
                        "x": -174.48280334472656,
                        "y": 4331.0986328125,
                        "z": 373.1258544921875
                    },
                    "rotation": {
                        "roll": 0.0025542364455759525,
                        "pitch": -0.18078143894672394,
                        "yaw": -90.00875091552734
                    }
                },
                "velocity": {
                    "x": -0.0025328483898192644,
                    "y": -6.534380912780762,
                    "z": -0.0024033449590206146
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009303019614890218,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835510253906
                    },
                    "rotation": {
                        "roll": -0.00021362470579333603,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": -8.661666470288765e-06,
                    "y": -8.303485628857743e-06,
                    "z": 0.0009302245453000069
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.00825309753418,
                "transform": {
                    "location": {
                        "x": -174.49655151367188,
                        "y": 4315.16064453125,
                        "z": 373.1081237792969
                    },
                    "rotation": {
                        "roll": 0.0008218510774895549,
                        "pitch": -0.07065147161483765,
                        "yaw": -90.04254150390625
                    }
                },
                "velocity": {
                    "x": -0.0037262195255607367,
                    "y": -5.008248329162598,
                    "z": -0.005626325495541096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005824154941365123,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 3.4532322388258763e-06,
                    "y": 3.877460585499648e-06,
                    "z": 0.0005823923274874687
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011480009561637416,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 9.172819773084484e-06,
                    "y": 7.294700480997562e-05,
                    "z": -8.816833724267781e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.187406539916992,
                "transform": {
                    "location": {
                        "x": -166.37835693359375,
                        "y": 4302.01220703125,
                        "z": 373.0544128417969
                    },
                    "rotation": {
                        "roll": -2.2838134765625,
                        "pitch": -0.19674359261989594,
                        "yaw": -7.085515975952148
                    }
                },
                "velocity": {
                    "x": 8.17006778717041,
                    "y": -0.5310884118080139,
                    "z": -0.03959151729941368
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001371082034893334,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 9.02414285519626e-07,
                    "y": 8.42639656184474e-06,
                    "z": 0.0013710558414459229
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013847231166437268,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.370802510791691e-05,
                    "y": 7.3381579568376765e-06,
                    "z": 0.0013846358051523566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.085064888000488,
                "transform": {
                    "location": {
                        "x": -208.92530822753906,
                        "y": 4295.4990234375,
                        "z": 373.20135498046875
                    },
                    "rotation": {
                        "roll": 0.000131628243252635,
                        "pitch": 0.2106703370809555,
                        "yaw": 179.65301513671875
                    }
                },
                "velocity": {
                    "x": -7.084880828857422,
                    "y": 0.04389261454343796,
                    "z": 0.026074379682540894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00015825558512005955,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -4.2428513552295044e-05,
                    "y": 2.0715928258141503e-05,
                    "z": 0.00015104802150744945
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006499869632534683,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.2970864190720022e-05,
                    "y": -2.2324318706523627e-05,
                    "z": 0.0006494739791378379
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010009529069066048,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2133717063989025e-05,
                    "y": 1.3579561937149265e-06,
                    "z": 0.0010008784011006355
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00023459123622160405,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": -0.21008294820785522,
                        "yaw": -0.0814209058880806
                    }
                },
                "velocity": {
                    "x": 1.4583692063752096e-05,
                    "y": 3.345425284351222e-05,
                    "z": 0.00023173514637164772
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9834442138671875,
                "transform": {
                    "location": {
                        "x": -230.6200714111328,
                        "y": 4295.65380859375,
                        "z": 373.3258361816406
                    },
                    "rotation": {
                        "roll": 0.007421289570629597,
                        "pitch": 0.23282746970653534,
                        "yaw": 179.94158935546875
                    }
                },
                "velocity": {
                    "x": -7.983353137969971,
                    "y": 0.020116174593567848,
                    "z": 0.03232630714774132
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2015435695648193,
                "transform": {
                    "location": {
                        "x": -177.37335205078125,
                        "y": 4249.359375,
                        "z": 372.9559326171875
                    },
                    "rotation": {
                        "roll": 0.002506726421415806,
                        "pitch": 0.13735510408878326,
                        "yaw": 90.58599090576172
                    }
                },
                "velocity": {
                    "x": -0.031838852912187576,
                    "y": 2.2013025283813477,
                    "z": 0.006875896360725164
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007614596397615969,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 3.901761010638438e-05,
                    "y": -1.968243122973945e-05,
                    "z": 0.0007602045661769807
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010006786760641262,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 8.390098628296982e-06,
                    "y": 6.1937303144077305e-06,
                    "z": -9.952297114068642e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00025462612393312156,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 5.983114078844665e-06,
                    "y": -1.2568449164973572e-05,
                    "z": 0.0002542453585192561
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005912577034905553,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 8.786916623648722e-06,
                    "y": -4.1065945879381616e-06,
                    "z": 0.0005911781336180866
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005046124570071697,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": 0.2175961583852768,
                        "yaw": 179.46401977539062
                    }
                },
                "velocity": {
                    "x": 1.3113953173160553e-05,
                    "y": -5.693684215657413e-06,
                    "z": 0.0005044098943471909
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005595649126917124,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0029296870343387127,
                        "pitch": 0.20588921010494232,
                        "yaw": 179.51292419433594
                    }
                },
                "velocity": {
                    "x": 4.936009645462036e-06,
                    "y": -5.4083111535874195e-06,
                    "z": -0.0005595170077867806
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.029307348653674126,
        "expert_target_speed": 0.0,
        "target_point": [
            25.50366178320738,
            0.5217009373531005
        ],
        "target_point_next": [
            36.500520433471706,
            0.7837719367341462
        ]
    },
    "750": {
        "acceleration": [
            -0.19966688752174377,
            0.004708240274339914,
            0.0010272979270666838
        ],
        "angular_velocity": [
            -0.0048348624259233475,
            0.05295071750879288,
            0.007477884646505117
        ],
        "forward_vector": [
            -0.99955153465271,
            0.029734961688518524,
            0.003537527984008193
        ],
        "right_vector": [
            -0.029734978452324867,
            -0.9995577931404114,
            4.793658808921464e-05
        ],
        "location": [
            -160.81781005859375,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.002746581332758069,
            0.20268584787845612,
            178.29605102539062
        ],
        "velocity": [
            -0.009983344003558159,
            0.00023541200789622962,
            5.1364899263717234e-05
        ],
        "speed": 0.009986119181485988,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70701599121094,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.657500075059943e-06,
                -7.074141194607364e-06,
                0.00033217165037058294
            ],
            "speed_kmh": 0.001196495087386804,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.2842737138271332,
                "transform": {
                    "location": {
                        "x": -174.564453125,
                        "y": 4349.2783203125,
                        "z": 373.0963134765625
                    },
                    "rotation": {
                        "roll": -0.00048828189028427,
                        "pitch": 0.03699913248419762,
                        "yaw": -90.04852294921875
                    }
                },
                "velocity": {
                    "x": 0.004535126965492964,
                    "y": -0.2636626660823822,
                    "z": 0.10617431253194809
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.3266823291778564,
                "transform": {
                    "location": {
                        "x": -174.4835968017578,
                        "y": 4329.984375,
                        "z": 373.1250305175781
                    },
                    "rotation": {
                        "roll": -0.0032348791137337685,
                        "pitch": -0.5895067453384399,
                        "yaw": -89.8260498046875
                    }
                },
                "velocity": {
                    "x": -0.000307983165839687,
                    "y": -3.3266820907592773,
                    "z": -0.0015270900912582874
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006813466898165643,
                "transform": {
                    "location": {
                        "x": -177.4542999267578,
                        "y": 4259.7939453125,
                        "z": 372.9835510253906
                    },
                    "rotation": {
                        "roll": 6.722837861161679e-05,
                        "pitch": 0.19306211173534393,
                        "yaw": 90.18553924560547
                    }
                },
                "velocity": {
                    "x": -4.501889634411782e-07,
                    "y": -9.541511644783895e-06,
                    "z": 0.0006812797510065138
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.751580715179443,
                "transform": {
                    "location": {
                        "x": -174.49655151367188,
                        "y": 4313.9384765625,
                        "z": 373.1064758300781
                    },
                    "rotation": {
                        "roll": 0.0002559722342994064,
                        "pitch": -0.07906626909971237,
                        "yaw": -90.04193115234375
                    }
                },
                "velocity": {
                    "x": -0.003476385958492756,
                    "y": -4.751575946807861,
                    "z": -0.00572657585144043
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00021734676556661725,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.0811686479428317e-05,
                    "y": -8.507658094458748e-06,
                    "z": 0.0002169109066016972
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007784966146573424,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 1.7482823750469834e-05,
                    "y": 3.3946227631531656e-05,
                    "z": 0.0007775596459396183
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031878471374512,
                "transform": {
                    "location": {
                        "x": -164.34359741210938,
                        "y": 4301.9111328125,
                        "z": 373.047607421875
                    },
                    "rotation": {
                        "roll": -1.2905882596969604,
                        "pitch": -0.21856604516506195,
                        "yaw": -2.193298101425171
                    }
                },
                "velocity": {
                    "x": 8.030765533447266,
                    "y": -0.13176290690898895,
                    "z": -0.02285935916006565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013309760252013803,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.1341857910156
                    },
                    "rotation": {
                        "roll": 0.00014565535821020603,
                        "pitch": -0.20080071687698364,
                        "yaw": -0.2211913913488388
                    }
                },
                "velocity": {
                    "x": 1.2809075087716337e-05,
                    "y": 5.203497153161152e-07,
                    "z": 0.0013309142086654902
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012425604509189725,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.459699069528142e-05,
                    "y": -3.6232624552212656e-05,
                    "z": 0.0012419463600963354
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.754438400268555,
                "transform": {
                    "location": {
                        "x": -210.80218505859375,
                        "y": 4295.5107421875,
                        "z": 373.2081604003906
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.24074366688728333,
                        "yaw": 179.65365600585938
                    }
                },
                "velocity": {
                    "x": -7.754237651824951,
                    "y": 0.04714727774262428,
                    "z": 0.0298991110175848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002741687058005482,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -8.238010195782408e-05,
                    "y": 2.7093812605016865e-05,
                    "z": 0.0002600921434350312
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00151244446169585,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.1379569514247123e-05,
                    "y": -1.0252960237266961e-05,
                    "z": 0.0015123668126761913
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003323597484268248,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.657500075059943e-06,
                    "y": -7.074141194607364e-06,
                    "z": 0.00033217165037058294
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003190967545378953,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0814819410443306
                    }
                },
                "velocity": {
                    "x": 1.4983080291131046e-05,
                    "y": -3.722503242897801e-05,
                    "z": 0.0003165636444464326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.330236554145813,
                "transform": {
                    "location": {
                        "x": -177.37953186035156,
                        "y": 4249.818359375,
                        "z": 372.9560546875
                    },
                    "rotation": {
                        "roll": 0.0019019832834601402,
                        "pitch": 0.3177950382232666,
                        "yaw": 90.68009185791016
                    }
                },
                "velocity": {
                    "x": -0.006972381379455328,
                    "y": 0.33015912771224976,
                    "z": 0.0015873527154326439
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008828669087961316,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.3016387129027862e-05,
                    "y": 6.825303717050701e-05,
                    "z": 0.0008801284711807966
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011712044943124056,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 1.8245093087898567e-05,
                    "y": 4.2373987525934353e-05,
                    "z": -0.0011702955234795809
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010183026315644383,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.4009997357788961e-05,
                    "y": 5.005253456147329e-07,
                    "z": 0.0010182061232626438
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008090659393928945,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.0341889719711617e-05,
                    "y": 1.5262106899172068e-05,
                    "z": 0.0008088558679446578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00039733119774609804,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.0004108001303393394,
                        "pitch": 0.21779422461986542,
                        "yaw": 179.4640350341797
                    }
                },
                "velocity": {
                    "x": 9.344183126813732e-06,
                    "y": -9.744134331413079e-06,
                    "z": 0.0003971017722506076
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.063691474380903e-05,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 1.102108490158571e-05,
                    "y": 4.038859515276272e-06,
                    "z": 2.8299185942159966e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02891360968351364,
        "expert_target_speed": 0.0,
        "target_point": [
            25.503055090659842,
            0.5207702524849804
        ],
        "target_point_next": [
            36.499923106281095,
            0.7824479733864222
        ]
    },
    "755": {
        "acceleration": [
            0.16129650175571442,
            -0.012033127248287201,
            0.0006978982128202915
        ],
        "angular_velocity": [
            0.015902284532785416,
            -0.024680647999048233,
            0.012808423489332199
        ],
        "forward_vector": [
            -0.9995518326759338,
            0.029724234715104103,
            0.00355540937744081
        ],
        "right_vector": [
            -0.02972412109375,
            -0.99955815076828,
            8.46879484015517e-05
        ],
        "location": [
            -160.81890869140625,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.004852293059229851,
            0.2037103772163391,
            178.29666137695312
        ],
        "velocity": [
            -0.003263498190790415,
            -3.153273064526729e-05,
            0.0007417583256028593
        ],
        "speed": 0.0032636505257754326,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70591735839844,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0159201337955892e-05,
                -1.9027105508939712e-06,
                0.0013185084098950028
            ],
            "speed_kmh": 0.004746776115016882,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3515287637710571,
                "transform": {
                    "location": {
                        "x": -174.56039428710938,
                        "y": 4349.00439453125,
                        "z": 373.10992431640625
                    },
                    "rotation": {
                        "roll": -0.00021362368715927005,
                        "pitch": 0.07696256786584854,
                        "yaw": -89.9569091796875
                    }
                },
                "velocity": {
                    "x": 0.010968358255922794,
                    "y": -1.3513363599777222,
                    "z": 0.0199886504560709
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.3898749351501465,
                "transform": {
                    "location": {
                        "x": -174.48367309570312,
                        "y": 4329.03125,
                        "z": 373.1248779296875
                    },
                    "rotation": {
                        "roll": -0.00039672834100201726,
                        "pitch": -0.008421623148024082,
                        "yaw": -89.90514373779297
                    }
                },
                "velocity": {
                    "x": 0.000697623414453119,
                    "y": -4.38987398147583,
                    "z": -0.002210283186286688
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.49892306327819824,
                "transform": {
                    "location": {
                        "x": -177.45420837402344,
                        "y": 4259.84375,
                        "z": 372.9836730957031
                    },
                    "rotation": {
                        "roll": 0.00015938318392727524,
                        "pitch": 0.20196184515953064,
                        "yaw": 90.20072937011719
                    }
                },
                "velocity": {
                    "x": -0.0024529187940061092,
                    "y": 0.4989137649536133,
                    "z": 0.001803922583349049
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.603797435760498,
                "transform": {
                    "location": {
                        "x": -174.49655151367188,
                        "y": 4312.77294921875,
                        "z": 373.1050720214844
                    },
                    "rotation": {
                        "roll": -0.00030517764389514923,
                        "pitch": -0.0768737718462944,
                        "yaw": -90.04174041748047
                    }
                },
                "velocity": {
                    "x": -0.0033917780965566635,
                    "y": -4.6037917137146,
                    "z": -0.006433744449168444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.611071952036582e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.805126657927758e-06,
                    "y": -8.35362334328238e-06,
                    "z": -3.508479130687192e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003984508803114295,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -1.193609023175668e-05,
                    "y": -1.4649196600657888e-05,
                    "z": 0.000398002564907074
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.948436260223389,
                "transform": {
                    "location": {
                        "x": -162.359375,
                        "y": 4301.8837890625,
                        "z": 373.0416259765625
                    },
                    "rotation": {
                        "roll": -0.623565673828125,
                        "pitch": -0.2508455216884613,
                        "yaw": -0.5704346299171448
                    }
                },
                "velocity": {
                    "x": 7.948380947113037,
                    "y": -0.015452167950570583,
                    "z": -0.02530532330274582
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013867102097719908,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.9991211956948973e-05,
                    "y": -7.417184860969428e-06,
                    "z": 0.0013865462969988585
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000834282545838505,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 8.401460945606232e-06,
                    "y": 2.495765693311114e-05,
                    "z": 0.000833866826724261
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.20252513885498,
                "transform": {
                    "location": {
                        "x": -212.9228057861328,
                        "y": 4295.52392578125,
                        "z": 373.2160949707031
                    },
                    "rotation": {
                        "roll": 0.0002251483965665102,
                        "pitch": 0.26375457644462585,
                        "yaw": 179.68704223632812
                    }
                },
                "velocity": {
                    "x": -9.202292442321777,
                    "y": 0.05566937476396561,
                    "z": 0.03435124456882477
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00040781201096251607,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -4.212217027088627e-05,
                    "y": -8.681416261424602e-07,
                    "z": 0.0004056298639625311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001326800207607448,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 2.4623461285955273e-05,
                    "y": 8.861839887686074e-06,
                    "z": 0.0013265421148389578
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013185489224269986,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0159201337955892e-05,
                    "y": -1.9027105508939712e-06,
                    "z": 0.0013185084098950028
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00029730924870818853,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.21035616099834442,
                        "yaw": -0.0814819410443306
                    }
                },
                "velocity": {
                    "x": 1.984115624509286e-05,
                    "y": -1.661356509430334e-05,
                    "z": 0.0002961808640975505
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012627436080947518,
                "transform": {
                    "location": {
                        "x": -177.37953186035156,
                        "y": 4249.81982421875,
                        "z": 372.9562072753906
                    },
                    "rotation": {
                        "roll": 0.0018418681574985385,
                        "pitch": 0.29806944727897644,
                        "yaw": 90.68047332763672
                    }
                },
                "velocity": {
                    "x": 2.7936413971474394e-05,
                    "y": -0.0007969868020154536,
                    "z": 0.0009790571639314294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000697398092597723,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.7968081010621972e-05,
                    "y": 4.2258411667717155e-06,
                    "z": 0.0006971537950448692
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030884513398632407,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 8.14102531876415e-06,
                    "y": -8.681276426614204e-07,
                    "z": -0.0003087366058025509
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008491432527080178,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.7106793166021816e-05,
                    "y": 2.3674044768995373e-06,
                    "z": 0.000848967581987381
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003503733314573765,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 6.216429028427228e-06,
                    "y": 4.4653911572822835e-06,
                    "z": 0.00035028974525630474
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001901600044220686,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00010730152280302718,
                        "pitch": 0.21771909296512604,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 4.934444859827636e-06,
                    "y": 1.4177886441757437e-05,
                    "z": 0.00018956651911139488
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005105321179144084,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 1.9000469819729915e-06,
                    "y": 6.345559086184949e-06,
                    "z": -0.0005104891024529934
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02613549306988716,
        "expert_target_speed": 0.0,
        "target_point": [
            25.501962404994877,
            0.5204700584518611
        ],
        "target_point_next": [
            36.49883316511957,
            0.7820324176024449
        ]
    },
    "760": {
        "acceleration": [
            -0.1934845894575119,
            0.009755064733326435,
            0.0011709216050803661
        ],
        "angular_velocity": [
            0.0332314558327198,
            0.032141197472810745,
            -0.014668948017060757
        ],
        "forward_vector": [
            -0.9995514154434204,
            0.029734957963228226,
            0.0035712639801204205
        ],
        "right_vector": [
            -0.02973485179245472,
            -0.9995577931404114,
            8.309006807394326e-05
        ],
        "location": [
            -160.82171630859375,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.004760740790516138,
            0.20461879670619965,
            178.29605102539062
        ],
        "velocity": [
            -0.019027462229132652,
            0.0007214679499156773,
            0.0013060092460364103
        ],
        "speed": 0.019041135335998882,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70310974121094,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.264685104426462e-06,
                1.0736269359767903e-05,
                0.000744671793654561
            ],
            "speed_kmh": 0.0026813045109542817,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.2719643115997314,
                "transform": {
                    "location": {
                        "x": -174.558349609375,
                        "y": 4348.564453125,
                        "z": 373.1119689941406
                    },
                    "rotation": {
                        "roll": -0.0010681189596652985,
                        "pitch": 0.09577290713787079,
                        "yaw": -89.71298217773438
                    }
                },
                "velocity": {
                    "x": 0.019556144252419472,
                    "y": -2.271873950958252,
                    "z": 0.005255470052361488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.379612922668457,
                "transform": {
                    "location": {
                        "x": -174.48367309570312,
                        "y": 4327.87548828125,
                        "z": 373.12432861328125
                    },
                    "rotation": {
                        "roll": 0.0007671760977245867,
                        "pitch": -0.014070188626646996,
                        "yaw": -89.96702575683594
                    }
                },
                "velocity": {
                    "x": -0.0012851370265707374,
                    "y": -4.379612445831299,
                    "z": -0.0021138382144272327
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2096694707870483,
                "transform": {
                    "location": {
                        "x": -177.4551544189453,
                        "y": 4260.05908203125,
                        "z": 372.9844055175781
                    },
                    "rotation": {
                        "roll": 0.00014346161333378404,
                        "pitch": 0.2095433622598648,
                        "yaw": 90.1590347290039
                    }
                },
                "velocity": {
                    "x": -0.003638929920271039,
                    "y": 1.2096619606018066,
                    "z": 0.002246313029900193
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.446972846984863,
                "transform": {
                    "location": {
                        "x": -174.4969482421875,
                        "y": 4311.64111328125,
                        "z": 373.1036682128906
                    },
                    "rotation": {
                        "roll": 0.0003931297396775335,
                        "pitch": -0.07531648874282837,
                        "yaw": -90.0450668334961
                    }
                },
                "velocity": {
                    "x": -0.003345485543832183,
                    "y": -4.446968078613281,
                    "z": -0.0056852721609175205
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001312394015258178,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 7.241070306918118e-06,
                    "y": -1.4792661886531278e-06,
                    "z": 0.00013103113451506943
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00020359338668640703,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -8.178204552677926e-06,
                    "y": -7.39815877750516e-05,
                    "z": 0.00018949962395709008
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.17793083190918,
                "transform": {
                    "location": {
                        "x": -160.3436737060547,
                        "y": 4301.87841796875,
                        "z": 373.0344543457031
                    },
                    "rotation": {
                        "roll": -0.265533447265625,
                        "pitch": -0.16049577295780182,
                        "yaw": -0.0836181640625
                    }
                },
                "velocity": {
                    "x": 8.177886009216309,
                    "y": -0.0025392891839146614,
                    "z": -0.02690916508436203
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011129057966172695,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.6337260149157373e-06,
                    "y": 3.889367235387908e-06,
                    "z": 0.0011128977639600635
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010870230617001653,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.4256275790103246e-05,
                    "y": -5.788581347587751e-06,
                    "z": 0.001086914213374257
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.76379680633545,
                "transform": {
                    "location": {
                        "x": -215.31936645507812,
                        "y": 4295.5380859375,
                        "z": 373.225341796875
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": 0.2471981942653656,
                        "yaw": 179.68795776367188
                    }
                },
                "velocity": {
                    "x": -9.763550758361816,
                    "y": 0.05822779983282089,
                    "z": 0.03760002925992012
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00013713566295336932,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -2.576489350758493e-05,
                    "y": -8.268654028142919e-07,
                    "z": 0.0001346910430584103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00015166946104727685,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 8.007474207261112e-06,
                    "y": -6.6589200287126005e-06,
                    "z": 0.00015131148393265903
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007448068354278803,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.264685104426462e-06,
                    "y": 1.0736269359767903e-05,
                    "z": 0.000744671793654561
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.21035616099834442,
                        "yaw": -0.0814819410443306
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028620928060263395,
                "transform": {
                    "location": {
                        "x": -177.37953186035156,
                        "y": 4249.8193359375,
                        "z": 372.956787109375
                    },
                    "rotation": {
                        "roll": 0.002188639249652624,
                        "pitch": 0.22785510122776031,
                        "yaw": 90.68048858642578
                    }
                },
                "velocity": {
                    "x": -7.403256313409656e-05,
                    "y": -0.00010488096449989825,
                    "z": 0.00025580250076018274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002949243353214115,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.0029412806034088e-05,
                    "y": 8.659470040583983e-06,
                    "z": -0.00029462651582434773
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001319879200309515,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 1.666694799951074e-07,
                    "y": 3.1005896744318306e-05,
                    "z": -0.0013195149367675185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004268735647201538,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 7.427036507579032e-06,
                    "y": 1.2045456060150173e-05,
                    "z": 0.0004266389296390116
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.990654295193963e-05,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 7.807574547769036e-06,
                    "y": -1.5311394463424222e-07,
                    "z": 3.9135029510362074e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002722220087889582,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00010730152280302718,
                        "pitch": 0.21771909296512604,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 5.8441978580958676e-06,
                    "y": -2.0489003418333596e-06,
                    "z": 0.00027215154841542244
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00014173239469528198,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 9.78607658908004e-06,
                    "y": 1.309198069066042e-05,
                    "z": -0.00014078672393225133
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.027954453602433205,
        "expert_target_speed": 0.0,
        "target_point": [
            25.499150567934887,
            0.5206541002020889
        ],
        "target_point_next": [
            36.49601858355614,
            0.7823318211035308
        ]
    },
    "765": {
        "acceleration": [
            0.22680796682834625,
            -0.011325720697641373,
            -0.0026288977824151516
        ],
        "angular_velocity": [
            -0.023290546610951424,
            -0.04290500655770302,
            -0.013118581846356392
        ],
        "forward_vector": [
            -0.9995513558387756,
            0.029743781313300133,
            0.003529064357280731
        ],
        "right_vector": [
            -0.029743552207946777,
            -0.9995575547218323,
            0.00011717835877789184
        ],
        "location": [
            -160.82476806640625,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.0067138671875,
            0.20220090448856354,
            178.29554748535156
        ],
        "velocity": [
            -0.008088085800409317,
            0.0002693153219297528,
            0.0012088012881577015
        ],
        "speed": 0.008092568359761253,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.70005798339844,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.705385684967041,
                "transform": {
                    "location": {
                        "x": -174.55233764648438,
                        "y": 4347.81005859375,
                        "z": 373.1125793457031
                    },
                    "rotation": {
                        "roll": -0.00015259234351105988,
                        "pitch": 0.1194736659526825,
                        "yaw": -89.6082763671875
                    }
                },
                "velocity": {
                    "x": 0.03320058435201645,
                    "y": -3.7052364349365234,
                    "z": 0.001984510337933898
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.406665802001953,
                "transform": {
                    "location": {
                        "x": -174.48367309570312,
                        "y": 4326.81982421875,
                        "z": 373.123779296875
                    },
                    "rotation": {
                        "roll": 0.0006794454529881477,
                        "pitch": -0.03387090563774109,
                        "yaw": -90.00198364257812
                    }
                },
                "velocity": {
                    "x": -0.0027039535343647003,
                    "y": -4.4066643714904785,
                    "z": -0.0018836403032764792
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8921709060668945,
                "transform": {
                    "location": {
                        "x": -177.4567108154297,
                        "y": 4260.455078125,
                        "z": 372.9855651855469
                    },
                    "rotation": {
                        "roll": -0.0002746567770373076,
                        "pitch": 0.20977558195590973,
                        "yaw": 90.15408325195312
                    }
                },
                "velocity": {
                    "x": -0.005791653413325548,
                    "y": 1.8921512365341187,
                    "z": 0.006406545639038086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.294624328613281,
                "transform": {
                    "location": {
                        "x": -174.49842834472656,
                        "y": 4310.5498046875,
                        "z": 373.1021728515625
                    },
                    "rotation": {
                        "roll": 0.0002569460775703192,
                        "pitch": -0.07873158901929855,
                        "yaw": -90.04779052734375
                    }
                },
                "velocity": {
                    "x": -0.004689935594797134,
                    "y": -4.294617652893066,
                    "z": -0.006026601884514093
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00016211470938287675,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.097928725357633e-05,
                    "y": -1.09709098978783e-05,
                    "z": 0.00016136998601723462
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.638854731339961e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 6.503106851596385e-05,
                    "y": -1.8291881133336574e-05,
                    "z": 3.565918450476602e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4269.9345703125,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0011596613330766559,
                        "pitch": 0.13797664642333984,
                        "yaw": 90.13462829589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.693328857421875,
                "transform": {
                    "location": {
                        "x": -158.21124267578125,
                        "y": 4301.875,
                        "z": 373.0266418457031
                    },
                    "rotation": {
                        "roll": -0.09603879600763321,
                        "pitch": -0.03143252804875374,
                        "yaw": -0.1029968112707138
                    }
                },
                "velocity": {
                    "x": 8.693269729614258,
                    "y": -0.01250792108476162,
                    "z": -0.029322685673832893
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003170578565914184,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 5.811191840621177e-06,
                    "y": -1.4869504411763046e-05,
                    "z": -0.0003166556707583368
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010712777730077505,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.3777538697468117e-05,
                    "y": 2.079655860143248e-05,
                    "z": 0.0010709873167797923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.850301742553711,
                "transform": {
                    "location": {
                        "x": -217.6524200439453,
                        "y": 4295.55126953125,
                        "z": 373.2347717285156
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": 0.2011217325925827,
                        "yaw": 179.650146484375
                    }
                },
                "velocity": {
                    "x": -8.850071907043457,
                    "y": 0.05297055095434189,
                    "z": 0.03543223440647125
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011749567929655313,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 2.3989117835299112e-05,
                    "y": -1.941359414558974e-06,
                    "z": 0.0011747103417292237
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00017840407963376492,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.20980973541736603,
                        "yaw": -0.081512451171875
                    }
                },
                "velocity": {
                    "x": 1.006372258416377e-05,
                    "y": 1.0562093848420773e-05,
                    "z": -0.00017780657799448818
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.10966736823320389,
                "transform": {
                    "location": {
                        "x": -177.37953186035156,
                        "y": 4249.826171875,
                        "z": 372.95697021484375
                    },
                    "rotation": {
                        "roll": 0.0016784165054559708,
                        "pitch": 0.2076718956232071,
                        "yaw": 90.68541717529297
                    }
                },
                "velocity": {
                    "x": -0.0016049457481130958,
                    "y": 0.10963758081197739,
                    "z": 0.001989288255572319
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000779051217250526,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": -1.9537135813152418e-05,
                    "y": 7.853691204218194e-05,
                    "z": 0.0007748361676931381
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008738479809835553,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": -5.717687145079253e-06,
                    "y": -6.6488137235865e-06,
                    "z": -0.0008738039759919047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006498171132989228,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 7.178708528954303e-06,
                    "y": 2.2236063159652986e-05,
                    "z": 0.0006493968539871275
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007094232714734972,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.3331919944903348e-05,
                    "y": 1.6067981505329954e-06,
                    "z": 0.0007092961459420621
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.224544191965833e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.21779422461986542,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 5.554519248107681e-06,
                    "y": 5.835320280311862e-06,
                    "z": 9.189297270495445e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006915031699463725,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 3.4794211956068466e-07,
                    "y": -7.185192316683242e-06,
                    "z": -0.0006914657424204051
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.028488729149103165,
        "expert_target_speed": 0.0,
        "target_point": [
            25.496095690585754,
            0.5207821909949187
        ],
        "target_point_next": [
            36.49296145980405,
            0.7825542987620073
        ]
    },
    "770": {
        "acceleration": [
            -0.22260600328445435,
            0.012167759239673615,
            0.0034706108272075653
        ],
        "angular_velocity": [
            0.016696367412805557,
            0.0490715317428112,
            -0.028895964846014977
        ],
        "forward_vector": [
            -0.9995507597923279,
            0.029764991253614426,
            0.0035006925463676453
        ],
        "right_vector": [
            -0.02976490743458271,
            -0.9995568990707397,
            7.616591756232083e-05
        ],
        "location": [
            -160.82765197753906,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.004364012274891138,
            0.2005753219127655,
            178.29432678222656
        ],
        "velocity": [
            -0.016237720847129822,
            0.0005198433646000922,
            0.0012429618509486318
        ],
        "speed": 0.016246039992349925,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.697174072265625,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                6.765499620087212e-06,
                -1.0778986506920774e-05,
                0.0006359511753544211
            ],
            "speed_kmh": 0.002289882593795989,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.065018653869629,
                "transform": {
                    "location": {
                        "x": -174.54257202148438,
                        "y": 4346.69873046875,
                        "z": 373.1129455566406
                    },
                    "rotation": {
                        "roll": 0.00023515516659244895,
                        "pitch": 0.12497196346521378,
                        "yaw": -89.57162475585938
                    }
                },
                "velocity": {
                    "x": 0.04657851159572601,
                    "y": -5.0648040771484375,
                    "z": 0.001920299488119781
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.378777980804443,
                "transform": {
                    "location": {
                        "x": -174.48483276367188,
                        "y": 4325.56884765625,
                        "z": 373.12335205078125
                    },
                    "rotation": {
                        "roll": 0.0007472470751963556,
                        "pitch": 0.12331905961036682,
                        "yaw": -90.03201293945312
                    }
                },
                "velocity": {
                    "x": -0.00450234767049551,
                    "y": -5.378775596618652,
                    "z": -0.002141704550012946
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009263595566153526,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9867248535156
                    },
                    "rotation": {
                        "roll": 5.0359490160190035e-06,
                        "pitch": 0.15721045434474945,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 1.3232362107373774e-05,
                    "y": -2.0746252630488016e-05,
                    "z": 0.0009260327205993235
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.149895668029785,
                "transform": {
                    "location": {
                        "x": -174.4996795654297,
                        "y": 4309.4951171875,
                        "z": 373.1007995605469
                    },
                    "rotation": {
                        "roll": -0.0003967283118981868,
                        "pitch": -0.0818529799580574,
                        "yaw": -90.05386352539062
                    }
                },
                "velocity": {
                    "x": -0.0037760245613753796,
                    "y": -4.149890422821045,
                    "z": -0.0056143091060221195
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004991375026293099,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 2.8123333777330117e-06,
                    "y": 3.913283308065729e-06,
                    "z": 0.0004991142195649445
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7506494006956927e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 2.855248794730869e-06,
                    "y": 1.7809383280109614e-05,
                    "z": -2.0767296518897638e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.04645014554262161,
                "transform": {
                    "location": {
                        "x": -177.4864044189453,
                        "y": 4269.9375,
                        "z": 373.0543518066406
                    },
                    "rotation": {
                        "roll": -0.0020141592249274254,
                        "pitch": 0.15500430762767792,
                        "yaw": 90.15188598632812
                    }
                },
                "velocity": {
                    "x": 0.0011358197079971433,
                    "y": 0.046431608498096466,
                    "z": 0.0006570816040039062
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 10.306626319885254,
                "transform": {
                    "location": {
                        "x": -155.81405639648438,
                        "y": 4301.87060546875,
                        "z": 373.01708984375
                    },
                    "rotation": {
                        "roll": -0.033660888671875,
                        "pitch": 0.2760898768901825,
                        "yaw": -0.09954831749200821
                    }
                },
                "velocity": {
                    "x": 10.306541442871094,
                    "y": -0.019399862736463547,
                    "z": -0.03719104826450348
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000235294210142456,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 8.925832844397519e-06,
                    "y": 1.4733257557963952e-05,
                    "z": -0.00023466278798878193
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011880035744979978,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 3.0625647923443466e-05,
                    "y": -1.6546346159884706e-05,
                    "z": 0.0011874934425577521
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.611835956573486,
                "transform": {
                    "location": {
                        "x": -219.45460510253906,
                        "y": 4295.56591796875,
                        "z": 373.2426452636719
                    },
                    "rotation": {
                        "roll": 0.0009737403597682714,
                        "pitch": 0.1034090593457222,
                        "yaw": -179.89785766601562
                    }
                },
                "velocity": {
                    "x": -4.611745834350586,
                    "y": 0.025488168001174927,
                    "z": 0.013442287221550941
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005257471930235624,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 5.640180006594164e-06,
                    "y": 2.4725271941861138e-05,
                    "z": 0.0005251351976767182
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011820682557299733,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.5295705452444963e-05,
                    "y": -1.617108500795439e-05,
                    "z": 0.0011818587081506848
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006360784755088389,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.765499620087212e-06,
                    "y": -1.0778986506920774e-05,
                    "z": 0.0006359511753544211
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019033455464523286,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.20983706414699554,
                        "yaw": -0.081512451171875
                    }
                },
                "velocity": {
                    "x": 1.5199147128441837e-05,
                    "y": -1.8882337826653384e-05,
                    "z": -0.00018878476112149656
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8513376712799072,
                "transform": {
                    "location": {
                        "x": -177.38148498535156,
                        "y": 4249.94677734375,
                        "z": 372.95806884765625
                    },
                    "rotation": {
                        "roll": 0.0018245469545945525,
                        "pitch": 0.14667147397994995,
                        "yaw": 90.6410140991211
                    }
                },
                "velocity": {
                    "x": -0.012582838535308838,
                    "y": 0.851242184638977,
                    "z": 0.0020777892787009478
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.421232395339757e-05,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.23644986160798e-05,
                    "y": 3.074151027249172e-05,
                    "z": -8.518321919837035e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.149501809384674e-05,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 8.059553692874033e-06,
                    "y": 1.0754272352642147e-06,
                    "z": -8.108837937470526e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00020020190277136862,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 2.4785101686575217e-06,
                    "y": 8.399815669690724e-06,
                    "z": 0.00020001025404781103
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005192673415876925,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 9.082853466679808e-06,
                    "y": -7.115825155779021e-06,
                    "z": 0.0005191391101107001
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001318287249887362,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.00026616762625053525,
                        "pitch": 0.2177600860595703,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 9.887516171147581e-06,
                    "y": 4.166571670793928e-06,
                    "z": 0.00013139135262463242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.773097680299543e-05,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 5.104206593387062e-06,
                    "y": 4.29843657911988e-06,
                    "z": -4.726221231976524e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.029680287465453148,
        "expert_target_speed": 0.0,
        "target_point": [
            25.493201876602004,
            0.5212434380875477
        ],
        "target_point_next": [
            36.49006202626859,
            0.783251512934368
        ]
    },
    "775": {
        "acceleration": [
            0.22295954823493958,
            -0.01322973519563675,
            -0.006168175023049116
        ],
        "angular_velocity": [
            0.027201436460018158,
            -0.035517968237400055,
            0.006362369284033775
        ],
        "forward_vector": [
            -0.9995503425598145,
            0.02977881394326687,
            0.003499738872051239
        ],
        "right_vector": [
            -0.029778745025396347,
            -0.9995564818382263,
            7.19049057806842e-05
        ],
        "location": [
            -160.8300018310547,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.004119873046875,
            0.20052067935466766,
            178.2935333251953
        ],
        "velocity": [
            -0.0012449886417016387,
            -0.00010820385796250775,
            0.0009756946237757802
        ],
        "speed": 0.0012496818766566402,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.69482421875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.0391585419711191e-05,
                -7.2796519816620275e-06,
                0.0001946273259818554
            ],
            "speed_kmh": 0.0007021455947420468,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.747557163238525,
                "transform": {
                    "location": {
                        "x": -174.52967834472656,
                        "y": 4345.30126953125,
                        "z": 373.1134338378906
                    },
                    "rotation": {
                        "roll": -0.0006713881157338619,
                        "pitch": 0.13555192947387695,
                        "yaw": -89.5973892211914
                    }
                },
                "velocity": {
                    "x": 0.06161961331963539,
                    "y": -6.7472758293151855,
                    "z": 0.0018380832625553012
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.60305118560791,
                "transform": {
                    "location": {
                        "x": -174.48570251464844,
                        "y": 4324.19482421875,
                        "z": 373.12237548828125
                    },
                    "rotation": {
                        "roll": -0.000793457729741931,
                        "pitch": 0.037443093955516815,
                        "yaw": -90.00481414794922
                    }
                },
                "velocity": {
                    "x": -0.003963871859014034,
                    "y": -5.603049278259277,
                    "z": -0.0028902434278279543
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012885922333225608,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.98651123046875
                    },
                    "rotation": {
                        "roll": 0.0002732889843173325,
                        "pitch": 0.18155324459075928,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 3.7241163227008656e-05,
                    "y": -2.6807560061570257e-05,
                    "z": 0.0012877749977633357
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.074893474578857,
                "transform": {
                    "location": {
                        "x": -174.50038146972656,
                        "y": 4308.47314453125,
                        "z": 373.0993957519531
                    },
                    "rotation": {
                        "roll": 0.001441101310774684,
                        "pitch": -0.0820920392870903,
                        "yaw": -90.06369018554688
                    }
                },
                "velocity": {
                    "x": -0.009279023855924606,
                    "y": -4.074878692626953,
                    "z": -0.005867109168320894
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001719138672342524,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 8.341371540154796e-06,
                    "y": -2.5480221665930003e-06,
                    "z": 0.00017169247439596802
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.752064215717837e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -2.150524414901156e-05,
                    "y": -6.801917334087193e-05,
                    "z": -6.649204442510381e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5790156126022339,
                "transform": {
                    "location": {
                        "x": -177.48648071289062,
                        "y": 4270.0009765625,
                        "z": 373.0543212890625
                    },
                    "rotation": {
                        "roll": -0.002044681226834655,
                        "pitch": 0.2082183063030243,
                        "yaw": 90.13802337646484
                    }
                },
                "velocity": {
                    "x": -0.001560199772939086,
                    "y": 0.5790082216262817,
                    "z": 0.0024781988468021154
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.353042602539062,
                "transform": {
                    "location": {
                        "x": -153.09811401367188,
                        "y": 4301.8623046875,
                        "z": 373.0072937011719
                    },
                    "rotation": {
                        "roll": 0.006846603471785784,
                        "pitch": 0.28902626037597656,
                        "yaw": -0.2080688327550888
                    }
                },
                "velocity": {
                    "x": 11.35288143157959,
                    "y": -0.044253475964069366,
                    "z": -0.041115451604127884
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008361900108866394,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 7.586143965454539e-06,
                    "y": 2.088257679133676e-05,
                    "z": 0.0008358947816304862
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013046811800450087,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.6126668924698606e-05,
                    "y": 4.2423322156537324e-05,
                    "z": 0.0013038915349170566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010337955318391323,
                "transform": {
                    "location": {
                        "x": -219.89108276367188,
                        "y": 4295.5791015625,
                        "z": 373.2445983886719
                    },
                    "rotation": {
                        "roll": 0.001811926020309329,
                        "pitch": 0.04639064148068428,
                        "yaw": -178.6691131591797
                    }
                },
                "velocity": {
                    "x": 0.00017295464931521565,
                    "y": 0.0002925099397543818,
                    "z": 0.0009763491689227521
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014128429756965488,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -2.0294570276746526e-05,
                    "y": -2.175921508751344e-05,
                    "z": -0.00013811560347676277
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011565452441573143,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 7.54419716031407e-06,
                    "y": -1.8784685380524024e-05,
                    "z": 0.0011563680600374937
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001950404403032735,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0391585419711191e-05,
                    "y": -7.2796519816620275e-06,
                    "z": 0.0001946273259818554
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003144252113997936,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": -0.20968680083751678,
                        "yaw": -0.08154296875
                    }
                },
                "velocity": {
                    "x": 2.422332727292087e-06,
                    "y": 4.000812259619124e-05,
                    "z": 0.00031186005799099803
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7134679555892944,
                "transform": {
                    "location": {
                        "x": -177.384521484375,
                        "y": 4250.2705078125,
                        "z": 372.9592590332031
                    },
                    "rotation": {
                        "roll": 0.00010512780863791704,
                        "pitch": 0.12957550585269928,
                        "yaw": 90.62865447998047
                    }
                },
                "velocity": {
                    "x": -0.01389731839299202,
                    "y": 1.7133992910385132,
                    "z": 0.006488904822617769
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007870941190049052,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.1699534297804348e-05,
                    "y": -1.698049163678661e-05,
                    "z": 0.0007868239772506058
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009284066036343575,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 5.512014013220323e-06,
                    "y": 2.461118856444955e-05,
                    "z": -0.0009280639933422208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010409342357888818,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.4112889402895235e-05,
                    "y": -6.355801929203153e-07,
                    "z": 0.0010408383095636964
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009885741164907813,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.2661106666200794e-05,
                    "y": -7.539115813415265e-06,
                    "z": 0.0009884643368422985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023906298156362027,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.00026616762625053525,
                        "pitch": 0.2177600860595703,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 2.710558419494191e-06,
                    "y": -1.0754085906228283e-06,
                    "z": 0.0002390451991232112
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6323137717554346e-05,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 5.7275592553196475e-06,
                    "y": 3.208702992196777e-07,
                    "z": -2.569045864220243e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.028471868485212326,
        "expert_target_speed": 0.0,
        "target_point": [
            25.49084585488141,
            0.5215259892120594
        ],
        "target_point_next": [
            36.48770238037619,
            0.783686131668569
        ]
    },
    "780": {
        "acceleration": [
            -0.12227851897478104,
            0.008491527289152145,
            0.00047569163143634796
        ],
        "angular_velocity": [
            0.04255390539765358,
            0.023610077798366547,
            0.015934007242321968
        ],
        "forward_vector": [
            -0.9995503425598145,
            0.029780244454741478,
            0.0035053417086601257
        ],
        "right_vector": [
            -0.029780155047774315,
            -0.9995564818382263,
            7.776381971780211e-05
        ],
        "location": [
            -160.83108520507812,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.00445556640625,
            0.20084169507026672,
            178.29345703125
        ],
        "velocity": [
            -0.007294096983969212,
            0.0003918566508218646,
            0.0012417506659403443
        ],
        "speed": 0.007304615147038349,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.69374084472656,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.452188917028252e-05,
                4.726141924038529e-06,
                0.0013891689013689756
            ],
            "speed_kmh": 0.005001310230174057,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.334306716918945,
                "transform": {
                    "location": {
                        "x": -174.51382446289062,
                        "y": 4343.38134765625,
                        "z": 373.114013671875
                    },
                    "rotation": {
                        "roll": 0.003595303511247039,
                        "pitch": 0.13189777731895447,
                        "yaw": -89.54387664794922
                    }
                },
                "velocity": {
                    "x": 0.04696124419569969,
                    "y": -8.334174156188965,
                    "z": 0.0018651675200089812
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.13615608215332,
                "transform": {
                    "location": {
                        "x": -174.4875030517578,
                        "y": 4322.5546875,
                        "z": 373.1212158203125
                    },
                    "rotation": {
                        "roll": -0.0009155389852821827,
                        "pitch": 0.2225070595741272,
                        "yaw": -90.02935028076172
                    }
                },
                "velocity": {
                    "x": -0.003999901469796896,
                    "y": -7.136153221130371,
                    "z": -0.005126438103616238
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00037065905053168535,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.0002746564568951726,
                        "pitch": 0.18898449838161469,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -0.00014055763313081115,
                    "y": -8.413605428359006e-06,
                    "z": 0.0003428715281188488
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.639256477355957,
                "transform": {
                    "location": {
                        "x": -174.50225830078125,
                        "y": 4307.39013671875,
                        "z": 373.0977783203125
                    },
                    "rotation": {
                        "roll": 2.0694018530775793e-05,
                        "pitch": -0.06912150979042053,
                        "yaw": -90.1024398803711
                    }
                },
                "velocity": {
                    "x": -0.012210402637720108,
                    "y": -4.6392364501953125,
                    "z": -0.005959100555628538
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.1535666494164616e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 7.606595772813307e-06,
                    "y": -8.12808877981297e-08,
                    "z": 3.060443123104051e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00017565088637638837,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -1.7984286387218162e-05,
                    "y": -0.0001687775511527434,
                    "z": 4.5209904783405364e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0019071229035034776,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0548400878906
                    },
                    "rotation": {
                        "roll": -0.0015258853090927005,
                        "pitch": 0.1478462666273117,
                        "yaw": 90.17039489746094
                    }
                },
                "velocity": {
                    "x": -1.8982880646944977e-05,
                    "y": -0.00011287025699857622,
                    "z": 0.00190368527546525
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.346489906311035,
                "transform": {
                    "location": {
                        "x": -150.1305389404297,
                        "y": 4301.84912109375,
                        "z": 372.9966735839844
                    },
                    "rotation": {
                        "roll": 0.012139066122472286,
                        "pitch": 0.26215630769729614,
                        "yaw": -0.26300048828125
                    }
                },
                "velocity": {
                    "x": 12.34626293182373,
                    "y": -0.06000927463173866,
                    "z": -0.04493115842342377
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00048302661161869764,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.8845125850930344e-06,
                    "y": -2.052435593213886e-05,
                    "z": 0.00048258667811751366
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001163925277069211,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.9043683607833373e-07,
                    "y": -8.478396921418607e-06,
                    "z": 0.001163894310593605
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.8807145953178406,
                "transform": {
                    "location": {
                        "x": -220.0242919921875,
                        "y": 4295.578125,
                        "z": 373.2437744140625
                    },
                    "rotation": {
                        "roll": 0.0069345589727163315,
                        "pitch": 0.2113533616065979,
                        "yaw": -178.76234436035156
                    }
                },
                "velocity": {
                    "x": -0.8807095885276794,
                    "y": 0.001972218044102192,
                    "z": 0.002228174125775695
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00019243820861447603,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 2.9078879379085265e-05,
                    "y": -2.4529210350010544e-05,
                    "z": -0.00018864040612243116
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001518560224212706,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.5597417586832307e-05,
                    "y": 1.6932945072767325e-05,
                    "z": 0.0015183857176452875
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013892528368160129,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.452188917028252e-05,
                    "y": 4.726141924038529e-06,
                    "z": 0.0013891689013689756
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005695666186511517,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0001586856960784644,
                        "pitch": -0.20972095429897308,
                        "yaw": -0.08154296875
                    }
                },
                "velocity": {
                    "x": 2.4160406610462815e-05,
                    "y": 3.522368206176907e-05,
                    "z": 0.000567962764762342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.085350513458252,
                "transform": {
                    "location": {
                        "x": -177.3887481689453,
                        "y": 4250.783203125,
                        "z": 372.9609680175781
                    },
                    "rotation": {
                        "roll": 0.0010969898430630565,
                        "pitch": 0.15714898705482483,
                        "yaw": 90.59475708007812
                    }
                },
                "velocity": {
                    "x": -0.017218541353940964,
                    "y": 2.085268259048462,
                    "z": 0.0068509578704833984
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006101602339185774,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 4.3784937588497996e-05,
                    "y": 2.5163733880617656e-05,
                    "z": 0.0006080667371861637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005196479614824057,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 1.1185854418727104e-05,
                    "y": 1.9110284483758733e-05,
                    "z": -0.0005191759555600584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010236300295218825,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.0214149369858205e-05,
                    "y": -2.0255392882972956e-05,
                    "z": 0.0010233785724267364
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004949989961460233,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.1276713848928921e-05,
                    "y": -9.153002906714391e-07,
                    "z": 0.0004948696587234735
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00014442448446061462,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00026616762625053525,
                        "pitch": 0.2177600860595703,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 4.421956873557065e-06,
                    "y": 2.5519080736557953e-05,
                    "z": 0.00014208325592335314
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004017757310066372,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 4.21650702264742e-06,
                    "y": 1.8716958720688126e-06,
                    "z": -0.00040174921741709113
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.029327193275094032,
        "expert_target_speed": 0.0,
        "target_point": [
            25.489762463974394,
            0.5215180365288729
        ],
        "target_point_next": [
            36.48661873944878,
            0.7836886664048928
        ]
    },
    "785": {
        "acceleration": [
            0.1708267480134964,
            -0.010508778505027294,
            -0.0006052013486623764
        ],
        "angular_velocity": [
            -0.012532922439277172,
            -0.03665649890899658,
            0.00025169062428176403
        ],
        "forward_vector": [
            -0.9995499849319458,
            0.029793353751301765,
            0.003493659431114793
        ],
        "right_vector": [
            -0.029793234542012215,
            -0.9995560646057129,
            8.575323590775952e-05
        ],
        "location": [
            -160.83203125,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.004913328681141138,
            0.20017234981060028,
            178.29270935058594
        ],
        "velocity": [
            0.0020536421798169613,
            -0.0002444465644657612,
            0.0012480926234275103
        ],
        "speed": 0.0020681393390200946,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.69279479980469,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.48565196065465e-06,
                -7.065847057674546e-06,
                0.000702474033460021
            ],
            "speed_kmh": 0.0025292189375765435,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.06865406036377,
                "transform": {
                    "location": {
                        "x": -174.50343322753906,
                        "y": 4341.306640625,
                        "z": 373.1151428222656
                    },
                    "rotation": {
                        "roll": 0.0031981864012777805,
                        "pitch": 0.029636189341545105,
                        "yaw": -89.72526550292969
                    }
                },
                "velocity": {
                    "x": 0.03107031062245369,
                    "y": -8.068593978881836,
                    "z": 0.0012522030156105757
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.22694993019104,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4321.1044921875,
                        "z": 373.1195373535156
                    },
                    "rotation": {
                        "roll": -0.0005188022623769939,
                        "pitch": -0.5965555310249329,
                        "yaw": -90.03326416015625
                    }
                },
                "velocity": {
                    "x": -0.0023530060425400734,
                    "y": -3.2269442081451416,
                    "z": -0.005581398028880358
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.214251071563922e-05,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.0002746564568951726,
                        "pitch": 0.18898449838161469,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -4.875216177424591e-07,
                    "y": -6.587840289284941e-06,
                    "z": 2.113417758664582e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.193673133850098,
                "transform": {
                    "location": {
                        "x": -174.5059356689453,
                        "y": 4306.1376953125,
                        "z": 373.0963134765625
                    },
                    "rotation": {
                        "roll": 0.00040400191210210323,
                        "pitch": -0.06488679349422455,
                        "yaw": -90.1301498413086
                    }
                },
                "velocity": {
                    "x": -0.013395573012530804,
                    "y": -5.1936516761779785,
                    "z": -0.006483402103185654
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020309491083025932,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 8.661523679620586e-06,
                    "y": -5.379392405302497e-06,
                    "z": 0.0002028388116741553
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.9636666264850646e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 1.2059024811605923e-05,
                    "y": 5.86438000027556e-06,
                    "z": 5.810955917695537e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011354928137734532,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.002197274938225746,
                        "pitch": 0.1590341180562973,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -0.0002541503054089844,
                    "y": -4.3812022340716794e-05,
                    "z": 0.0011058173840865493
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.301863670349121,
                "transform": {
                    "location": {
                        "x": -146.91827392578125,
                        "y": 4301.8330078125,
                        "z": 372.9849548339844
                    },
                    "rotation": {
                        "roll": 0.010863573290407658,
                        "pitch": 0.23694607615470886,
                        "yaw": -0.3054808974266052
                    }
                },
                "velocity": {
                    "x": 13.301580429077148,
                    "y": -0.07151518017053604,
                    "z": -0.049285888671875
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3009418580622878e-05,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 4.689469733420992e-06,
                    "y": -1.1815852303698193e-05,
                    "z": -2.763960537777166e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009018426644615829,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": -3.2410024886075917e-08,
                    "y": -2.0757126549142413e-05,
                    "z": 0.000901603780221194
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4338816404342651,
                "transform": {
                    "location": {
                        "x": -220.3114013671875,
                        "y": 4295.576171875,
                        "z": 373.2444763183594
                    },
                    "rotation": {
                        "roll": 0.0067503140307962894,
                        "pitch": 0.24231460690498352,
                        "yaw": -178.96746826171875
                    }
                },
                "velocity": {
                    "x": -1.433871865272522,
                    "y": 0.002274674829095602,
                    "z": 0.004757661838084459
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.7336859754286706e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 1.3749150639341678e-05,
                    "y": -3.778038444579579e-05,
                    "z": 4.087932393304072e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008349862764589489,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.1012032700818963e-05,
                    "y": -1.169501047115773e-07,
                    "z": 0.0008349136332981288
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000702560821082443,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.48565196065465e-06,
                    "y": -7.065847057674546e-06,
                    "z": 0.000702474033460021
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006221397779881954,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0001586856960784644,
                        "pitch": -0.20972095429897308,
                        "yaw": -0.08154296875
                    }
                },
                "velocity": {
                    "x": 1.546599014545791e-05,
                    "y": -3.7988240364938974e-05,
                    "z": 0.0006207862752489746
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004953646566718817,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01513671875,
                        "z": 372.9598693847656
                    },
                    "rotation": {
                        "roll": 0.0017320004990324378,
                        "pitch": 0.3929749131202698,
                        "yaw": 90.57379150390625
                    }
                },
                "velocity": {
                    "x": -4.2724575905594975e-05,
                    "y": -0.0004073225718457252,
                    "z": -0.00027865590527653694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005753409350290895,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 3.295052738394588e-05,
                    "y": -8.747904939809814e-05,
                    "z": 0.0005676961154676974
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001343664713203907,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 7.4808672252402175e-06,
                    "y": 1.4874365206196671e-06,
                    "z": -0.0013436430599540472
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00030935119139030576,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 4.783123586094007e-06,
                    "y": -2.1476924302987754e-05,
                    "z": -0.00030856768717058003
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.806776996701956e-05,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 7.695518434047699e-06,
                    "y": -7.519100790887023e-07,
                    "z": 4.7441797505598515e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.919182098703459e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00026616762625053525,
                        "pitch": 0.2177600860595703,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 8.826181328913663e-06,
                    "y": -6.342285814753268e-06,
                    "z": -7.844245556043461e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00013625221617985517,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 5.600750228040852e-06,
                    "y": -9.764953574631363e-07,
                    "z": -0.00013613354531116784
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02875741571187973,
        "expert_target_speed": 0.0,
        "target_point": [
            25.488809873726105,
            0.5218301758855114
        ],
        "target_point_next": [
            36.485662647864785,
            0.7841476296096355
        ]
    },
    "790": {
        "acceleration": [
            -0.16902269423007965,
            0.010752893052995205,
            0.004314422141760588
        ],
        "angular_velocity": [
            0.0245620459318161,
            0.03109096549451351,
            0.016844049096107483
        ],
        "forward_vector": [
            -0.9995499849319458,
            0.02979383058845997,
            0.003491871291771531
        ],
        "right_vector": [
            -0.029793698340654373,
            -0.9995560646057129,
            8.94816403160803e-05
        ],
        "location": [
            -160.83203125,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.005126951728016138,
            0.20006988942623138,
            178.2926788330078
        ],
        "velocity": [
            0.00022876381990499794,
            0.00018148143135476857,
            0.00027407644665800035
        ],
        "speed": 0.0002920075259716809,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.69279479980469,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.7654783732723445e-05,
                -2.270310142193921e-05,
                0.001671829610131681
            ],
            "speed_kmh": 0.006019477063915578,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.925520420074463,
                "transform": {
                    "location": {
                        "x": -174.4953155517578,
                        "y": 4339.32763671875,
                        "z": 373.1155700683594
                    },
                    "rotation": {
                        "roll": 0.0018488246714696288,
                        "pitch": -0.005983245559036732,
                        "yaw": -89.791748046875
                    }
                },
                "velocity": {
                    "x": 0.027483312413096428,
                    "y": -7.925472736358643,
                    "z": 0.0017787551041692495
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0873641967773438,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4320.857421875,
                        "z": 373.1192626953125
                    },
                    "rotation": {
                        "roll": -0.0007324392208829522,
                        "pitch": -0.5590782761573792,
                        "yaw": -90.03254699707031
                    }
                },
                "velocity": {
                    "x": -0.00035983382258564234,
                    "y": -1.0873640775680542,
                    "z": -0.0001724624598864466
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005803132080473006,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.0002746564568951726,
                        "pitch": 0.18898449838161469,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 3.235041958760121e-07,
                    "y": -7.408857072732644e-06,
                    "z": 0.000580265827011317
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.083288192749023,
                "transform": {
                    "location": {
                        "x": -174.5098419189453,
                        "y": 4304.74951171875,
                        "z": 373.0943603515625
                    },
                    "rotation": {
                        "roll": 7.712982187513262e-05,
                        "pitch": -0.06155366078019142,
                        "yaw": -90.12899017333984
                    }
                },
                "velocity": {
                    "x": -0.015104908496141434,
                    "y": -6.083262920379639,
                    "z": -0.00883277878165245
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.6189946917584166e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.8632039427757263e-05,
                    "y": 5.219203558226582e-06,
                    "z": 5.275336297927424e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7194610083824955e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 7.11124357621884e-06,
                    "y": -2.1321770873328205e-06,
                    "z": 2.616162964841351e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0017706723883748055,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.05474853515625
                    },
                    "rotation": {
                        "roll": -0.0018005422316491604,
                        "pitch": 0.16218966245651245,
                        "yaw": 90.17037200927734
                    }
                },
                "velocity": {
                    "x": 7.136194471968338e-05,
                    "y": -3.313785418868065e-05,
                    "z": 0.0017689233645796776
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.549588203430176,
                "transform": {
                    "location": {
                        "x": -143.54116821289062,
                        "y": 4301.814453125,
                        "z": 372.9729919433594
                    },
                    "rotation": {
                        "roll": 0.006170981097966433,
                        "pitch": 0.05113079398870468,
                        "yaw": -0.3153685927391052
                    }
                },
                "velocity": {
                    "x": 13.54929256439209,
                    "y": -0.07445122301578522,
                    "z": -0.04966534674167633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005209031514823437,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.8669292330741882e-05,
                    "y": 5.457436600408982e-07,
                    "z": -0.0005205681663937867
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008888371521607041,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.3043358194408938e-05,
                    "y": 2.175412737415172e-05,
                    "z": 0.0008884751587174833
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9832245111465454,
                "transform": {
                    "location": {
                        "x": -220.73280334472656,
                        "y": 4295.57568359375,
                        "z": 373.2462158203125
                    },
                    "rotation": {
                        "roll": 0.005724931601434946,
                        "pitch": 0.24074366688728333,
                        "yaw": -179.1981658935547
                    }
                },
                "velocity": {
                    "x": -1.983202576637268,
                    "y": 0.006468366365879774,
                    "z": 0.006729974411427975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001799886376829818,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 1.804081693990156e-05,
                    "y": 2.0653045794460922e-05,
                    "z": 0.00017788729746825993
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013667155290022492,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.1033862392650917e-05,
                    "y": 1.4741282029717695e-05,
                    "z": 0.0013665915466845036
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0016720769926905632,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.7654783732723445e-05,
                    "y": -2.270310142193921e-05,
                    "z": 0.001671829610131681
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.349031926016323e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0001877057075034827,
                        "pitch": -0.20983706414699554,
                        "yaw": -0.0815734937787056
                    }
                },
                "velocity": {
                    "x": 2.1382755221566185e-05,
                    "y": 2.568567833804991e-05,
                    "z": -4.176407674094662e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008597681880928576,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9610900878906
                    },
                    "rotation": {
                        "roll": 0.0005392963066697121,
                        "pitch": 0.24468468129634857,
                        "yaw": 90.57379150390625
                    }
                },
                "velocity": {
                    "x": -7.635503425262868e-05,
                    "y": -0.00044068272109143436,
                    "z": 0.0007342819590121508
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001082553993910551,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.2663975212490186e-05,
                    "y": 1.2827776117774192e-05,
                    "z": 0.0010824039345607162
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009920732118189335,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": -7.816590368747711e-06,
                    "y": -1.0785261110868305e-05,
                    "z": -0.0009919838048517704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.825625314377248e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 9.73943588178372e-06,
                    "y": -1.714940844976809e-05,
                    "z": -6.534490967169404e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005662982584908605,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.0837278750841506e-05,
                    "y": 1.2132821893828805e-06,
                    "z": 0.0005661932518705726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00019101954239886254,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00026616762625053525,
                        "pitch": 0.2177600860595703,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 1.0557584573689383e-05,
                    "y": 1.9642118331830716e-06,
                    "z": 0.00019071744463872164
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006006479379720986,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 3.128536036456353e-06,
                    "y": 1.2283888281672262e-05,
                    "z": -0.0006005141767673194
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.028294667601585388,
        "expert_target_speed": 0.0,
        "target_point": [
            25.48880962489519,
            0.5218423298971182
        ],
        "target_point_next": [
            36.48566227394991,
            0.7841650273292383
        ]
    },
    "795": {
        "acceleration": [
            0.20498217642307281,
            -0.0077842180617153645,
            -0.006657600402832031
        ],
        "angular_velocity": [
            -0.007535262499004602,
            -0.036101289093494415,
            0.013075802475214005
        ],
        "forward_vector": [
            -0.999549925327301,
            0.02979239635169506,
            0.003524892032146454
        ],
        "right_vector": [
            -0.029792318120598793,
            -0.9995561242103577,
            7.456803723471239e-05
        ],
        "location": [
            -160.8312530517578,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.004272460471838713,
            0.20196184515953064,
            178.29275512695312
        ],
        "velocity": [
            0.005536382552236319,
            -0.00023519735259469599,
            -0.00015287399583030492
        ],
        "speed": 0.0055413761431050935,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.693572998046875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.944028533936944e-06,
                -2.803748202495626e-06,
                0.0007731018122285604
            ],
            "speed_kmh": 0.002783415044841502,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.095194816589355,
                "transform": {
                    "location": {
                        "x": -174.490234375,
                        "y": 4337.3125,
                        "z": 373.1155090332031
                    },
                    "rotation": {
                        "roll": 0.003059553448110819,
                        "pitch": 0.010689245536923409,
                        "yaw": -89.87764739990234
                    }
                },
                "velocity": {
                    "x": 0.00975104235112667,
                    "y": -8.095189094543457,
                    "z": 0.00150579446926713
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.5361361503601074,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4320.38525390625,
                        "z": 373.1190490722656
                    },
                    "rotation": {
                        "roll": 0.0010252795182168484,
                        "pitch": 0.07502962648868561,
                        "yaw": -90.03153991699219
                    }
                },
                "velocity": {
                    "x": -0.002392200753092766,
                    "y": -2.5361344814300537,
                    "z": -0.0016543578822165728
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0213166610337794e-05,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": 3.152977296849713e-05,
                        "pitch": 0.19325336813926697,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 1.1198330867046025e-05,
                    "y": -5.8450550568522885e-06,
                    "z": -2.7445730665931478e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.833535194396973,
                "transform": {
                    "location": {
                        "x": -174.51585388183594,
                        "y": 4303.17724609375,
                        "z": 373.0920104980469
                    },
                    "rotation": {
                        "roll": 0.0006260264781303704,
                        "pitch": -0.057865358889102936,
                        "yaw": -90.22454833984375
                    }
                },
                "velocity": {
                    "x": -0.035978641360998154,
                    "y": -6.833434104919434,
                    "z": -0.009272231720387936
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000255234248470515,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 8.569173587602563e-06,
                    "y": -3.454138095548842e-06,
                    "z": 0.0002550669596530497
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005614628316834569,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -7.3057785812125076e-06,
                    "y": -1.3344794751901645e-05,
                    "z": -0.0005612566601485014
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010211821645498276,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.001007076702080667,
                        "pitch": 0.16369231045246124,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 0.00013032778224442154,
                    "y": -2.40851181843027e-06,
                    "z": 0.001012828666716814
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.365274429321289,
                "transform": {
                    "location": {
                        "x": -140.18194580078125,
                        "y": 4301.79541015625,
                        "z": 372.9612121582031
                    },
                    "rotation": {
                        "roll": 0.002196838613599539,
                        "pitch": -0.17611642181873322,
                        "yaw": -0.3196410834789276
                    }
                },
                "velocity": {
                    "x": 13.364978790283203,
                    "y": -0.07394878566265106,
                    "z": -0.04943900182843208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00020489147573243827,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.0206847946392372e-05,
                    "y": 2.1299958461895585e-05,
                    "z": -0.00020352554565761238
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005546326283365488,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 5.5393575166817755e-06,
                    "y": 1.591628279129509e-05,
                    "z": 0.0005543765146285295
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8165199756622314,
                "transform": {
                    "location": {
                        "x": -221.241943359375,
                        "y": 4295.57763671875,
                        "z": 373.2483215332031
                    },
                    "rotation": {
                        "roll": 0.0035409543197602034,
                        "pitch": 0.22318324446678162,
                        "yaw": -179.2414093017578
                    }
                },
                "velocity": {
                    "x": -1.8164952993392944,
                    "y": 0.006943617481738329,
                    "z": 0.006442365702241659
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.875665323808789e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 6.19022612227127e-05,
                    "y": 4.1063816752284765e-05,
                    "z": -2.616263554955367e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011762187350541353,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.1856481251015794e-05,
                    "y": 4.729183729068609e-06,
                    "z": 0.0011761494679376483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007731708465144038,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.944028533936944e-06,
                    "y": -2.803748202495626e-06,
                    "z": 0.0007731018122285604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006612020079046488,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0001877057075034827,
                        "pitch": -0.20983706414699554,
                        "yaw": -0.0815734937787056
                    }
                },
                "velocity": {
                    "x": 5.118437002238352e-06,
                    "y": 3.725883652805351e-05,
                    "z": 0.0006601315690204501
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009970940882340074,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613342285156
                    },
                    "rotation": {
                        "roll": 0.00137729337438941,
                        "pitch": 0.2155470997095108,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": -0.00011216189159313217,
                    "y": -8.182819874491543e-05,
                    "z": 0.0009873806266114116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011159671703353524,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 9.94551919575315e-06,
                    "y": -6.170244887471199e-06,
                    "z": 0.0011159058194607496
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0865023290971294e-05,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": 8.969865120889153e-06,
                    "y": 8.334853873748216e-07,
                    "z": -2.952112117782235e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 9.325984137831256e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 9.726509233587421e-06,
                    "y": 1.571956272528041e-05,
                    "z": 9.14094562176615e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00021542368631344289,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 9.118951311393175e-06,
                    "y": 8.564974450564478e-06,
                    "z": 0.00021506010671146214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003224943357054144,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00026616762625053525,
                        "pitch": 0.2177600860595703,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 6.6021084421663545e-06,
                    "y": 2.2597152565140277e-05,
                    "z": 0.00032163391006179154
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003498032165225595,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 4.357323177828221e-06,
                    "y": -2.0543164282571524e-05,
                    "z": -0.000349172274582088
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.026642290875315666,
        "expert_target_speed": 0.0,
        "target_point": [
            25.489588224181823,
            0.5218290520836818
        ],
        "target_point_next": [
            36.48644124848092,
            0.7841360183916346
        ]
    },
    "800": {
        "acceleration": [
            -0.20229339599609375,
            0.005912027321755886,
            -0.006554603576660156
        ],
        "angular_velocity": [
            0.011135919019579887,
            0.06123414263129234,
            -0.010496214963495731
        ],
        "forward_vector": [
            -0.9995502829551697,
            0.029775233939290047,
            0.003558270400390029
        ],
        "right_vector": [
            -0.02977515198290348,
            -0.9995566010475159,
            7.61659030104056e-05
        ],
        "location": [
            -160.83187866210938,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.004364012274891138,
            0.20387430489063263,
            178.2937469482422
        ],
        "velocity": [
            -0.009208399802446365,
            0.0005520409322343767,
            4.264831295586191e-05
        ],
        "speed": 0.009224932309375308,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.69294738769531,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.815452019916847e-06,
                -8.51981712912675e-06,
                0.0002551530487835407
            ],
            "speed_kmh": 0.0009196106654729903,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.020782947540283,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4335.41064453125,
                        "z": 373.1158142089844
                    },
                    "rotation": {
                        "roll": 0.0010423514759168029,
                        "pitch": -0.06225034222006798,
                        "yaw": -89.93384552001953
                    }
                },
                "velocity": {
                    "x": 0.006147080101072788,
                    "y": -7.020780086517334,
                    "z": -0.0014628315111622214
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.171511173248291,
                "transform": {
                    "location": {
                        "x": -174.48873901367188,
                        "y": 4319.53466796875,
                        "z": 373.11834716796875
                    },
                    "rotation": {
                        "roll": 0.0010009382385760546,
                        "pitch": 0.23950056731700897,
                        "yaw": -90.04644012451172
                    }
                },
                "velocity": {
                    "x": -0.004537752829492092,
                    "y": -4.171507835388184,
                    "z": -0.0025935459416359663
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008420479134656489,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.0001831088011385873,
                        "pitch": 0.19312359392642975,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 1.1200667415778298e-07,
                    "y": -1.0313018719898537e-05,
                    "z": 0.0008419847581535578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.774474143981934,
                "transform": {
                    "location": {
                        "x": -174.52561950683594,
                        "y": 4301.3408203125,
                        "z": 373.08990478515625
                    },
                    "rotation": {
                        "roll": 0.0001845368678914383,
                        "pitch": -0.037811923772096634,
                        "yaw": -90.31117248535156
                    }
                },
                "velocity": {
                    "x": -0.04611571133136749,
                    "y": -7.774335861206055,
                    "z": -0.005154991056770086
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00020936509827151895,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.4491378408365563e-07,
                    "y": 1.2274107575649396e-05,
                    "z": 0.0002090049529215321
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011798012565122917,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 1.95875018107472e-05,
                    "y": 6.856989057268947e-05,
                    "z": -9.398834663443267e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001314871245995164,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.001434325473383069,
                        "pitch": 0.16366498172283173,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -5.6649631005711854e-05,
                    "y": -1.0960287909256294e-05,
                    "z": 0.0013136046472936869
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.356091499328613,
                "transform": {
                    "location": {
                        "x": -136.8453826904297,
                        "y": 4301.77685546875,
                        "z": 372.94866943359375
                    },
                    "rotation": {
                        "roll": 0.0037148159462958574,
                        "pitch": -0.21798548102378845,
                        "yaw": -0.3304443061351776
                    }
                },
                "velocity": {
                    "x": 13.355765342712402,
                    "y": -0.07735040783882141,
                    "z": -0.052438825368881226
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001808363012969494,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.5072672795213293e-05,
                    "y": 5.146034254721599e-06,
                    "z": -0.0001801335602067411
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015553386183455586,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.618742862774525e-05,
                    "y": -2.8273776479181834e-05,
                    "z": 0.001554997405037284
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9774270057678223,
                "transform": {
                    "location": {
                        "x": -221.70265197753906,
                        "y": 4295.57958984375,
                        "z": 373.2501525878906
                    },
                    "rotation": {
                        "roll": 0.004495610017329454,
                        "pitch": 0.22168061137199402,
                        "yaw": -179.22254943847656
                    }
                },
                "velocity": {
                    "x": -1.9774030447006226,
                    "y": 0.007247914094477892,
                    "z": 0.006523017771542072
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001291717344429344,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 5.762713772128336e-05,
                    "y": -2.5373063181177713e-05,
                    "z": -0.00011278589954599738
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00122637371532619,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.0796487003972288e-05,
                    "y": -1.9140485164825805e-05,
                    "z": 0.0012261768570169806
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00025544740492478013,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.815452019916847e-06,
                    "y": -8.51981712912675e-06,
                    "z": 0.0002551530487835407
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 9.371654596179724e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0001877057075034827,
                        "pitch": -0.20983706414699554,
                        "yaw": -0.0815734937787056
                    }
                },
                "velocity": {
                    "x": 1.7254575141123496e-05,
                    "y": -1.901333135378991e-08,
                    "z": 9.211443830281496e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015367987798526883,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 3.3952332159969956e-05,
                    "y": 5.178145147510804e-05,
                    "z": 0.0015355509240180254
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001261801808141172,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535705566406
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.2184499353170395,
                        "yaw": 0.04979764670133591
                    }
                },
                "velocity": {
                    "x": -8.997320719572599e-07,
                    "y": 1.3086185390420724e-05,
                    "z": -0.0012617337051779032
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00019133240857627243,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.1800937500083819e-05,
                    "y": 3.2176274089579238e-06,
                    "z": 0.0001909410348162055
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011065583676099777,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.3061687241133768e-05,
                    "y": -1.4731454029970337e-05,
                    "z": 0.0011063831625506282
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.7553067411645316e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00026616762625053525,
                        "pitch": 0.2177600860595703,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 1.0512098015169613e-05,
                    "y": 1.2168723515060265e-05,
                    "z": 2.2373857063939795e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03064083307981491,
        "expert_target_speed": 0.0,
        "target_point": [
            25.488971845243544,
            0.5213728666642052
        ],
        "target_point_next": [
            36.485829370719884,
            0.7834910594402893
        ]
    },
    "805": {
        "acceleration": [
            0.12487730383872986,
            -0.0018361915135756135,
            -0.003781127743422985
        ],
        "angular_velocity": [
            -0.002994030714035034,
            -0.03315320983529091,
            0.014796122908592224
        ],
        "forward_vector": [
            -0.9995505809783936,
            0.029764508828520775,
            0.0035778204910457134
        ],
        "right_vector": [
            -0.029764324426651,
            -0.9995569586753845,
            0.00010492787987459451
        ],
        "location": [
            -160.8336639404297,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.006011962890625,
            0.20499445497989655,
            178.2943572998047
        ],
        "velocity": [
            -0.006850500591099262,
            0.00023998130927793682,
            -0.00016427993250545114
        ],
        "speed": 0.006854702719845267,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.691162109375,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3696178939426318e-05,
                -9.341250006400514e-06,
                0.0012425696477293968
            ],
            "speed_kmh": 0.0044736488565274585,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.5091857910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.0316169448196888,
                        "yaw": -90.05113983154297
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.112871170043945,
                "transform": {
                    "location": {
                        "x": -174.48422241210938,
                        "y": 4333.85302734375,
                        "z": 373.1158447265625
                    },
                    "rotation": {
                        "roll": -0.0020751943811774254,
                        "pitch": -0.11627030372619629,
                        "yaw": -90.14519500732422
                    }
                },
                "velocity": {
                    "x": 0.011945034377276897,
                    "y": -5.112856864929199,
                    "z": -0.0020493315532803535
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.368836402893066,
                "transform": {
                    "location": {
                        "x": -174.49069213867188,
                        "y": 4318.31103515625,
                        "z": 373.11761474609375
                    },
                    "rotation": {
                        "roll": -0.0003051728708669543,
                        "pitch": 0.21564272046089172,
                        "yaw": -90.04977416992188
                    }
                },
                "velocity": {
                    "x": -0.004792756401002407,
                    "y": -5.368832111358643,
                    "z": -0.00460130674764514
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005824469844810665,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.0001831088011385873,
                        "pitch": 0.19312359392642975,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 1.9456800146144815e-05,
                    "y": -6.435289833461866e-06,
                    "z": 0.0005820863298140466
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.241497993469238,
                "transform": {
                    "location": {
                        "x": -174.53726196289062,
                        "y": 4299.3203125,
                        "z": 373.08819580078125
                    },
                    "rotation": {
                        "roll": 0.023432666435837746,
                        "pitch": -0.003053094493225217,
                        "yaw": -90.33749389648438
                    }
                },
                "velocity": {
                    "x": -0.04463182017207146,
                    "y": -8.241374015808105,
                    "z": -0.007061767391860485
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6956773833953775e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 7.275268217199482e-06,
                    "y": -8.957598538472666e-07,
                    "z": 1.529052860860247e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005100590060465038,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 2.0816921164623636e-07,
                    "y": -0.00013292639050632715,
                    "z": 0.0004924334352836013
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009529333910904825,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0013122487580403686,
                        "pitch": 0.16376060247421265,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -3.566739542293362e-05,
                    "y": -2.3918504666653462e-05,
                    "z": 0.0009519652230665088
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.38988971710205,
                "transform": {
                    "location": {
                        "x": -133.5011749267578,
                        "y": 4301.75732421875,
                        "z": 372.93560791015625
                    },
                    "rotation": {
                        "roll": 0.001978553831577301,
                        "pitch": -0.2094135880470276,
                        "yaw": -0.3384094536304474
                    }
                },
                "velocity": {
                    "x": 13.389557838439941,
                    "y": -0.0783156305551529,
                    "z": -0.052372559905052185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.3038221115712076e-05,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 2.1298228602972813e-06,
                    "y": -2.1699994249502197e-05,
                    "z": 7.438662578351796e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012314552441239357,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 4.5751407924399246e-06,
                    "y": -2.2917196474736556e-05,
                    "z": 0.0012312334729358554
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000650702160783112,
                "transform": {
                    "location": {
                        "x": -221.93795776367188,
                        "y": 4295.5810546875,
                        "z": 373.25152587890625
                    },
                    "rotation": {
                        "roll": -0.0006408689660020173,
                        "pitch": 0.1620393991470337,
                        "yaw": -179.1768798828125
                    }
                },
                "velocity": {
                    "x": 1.3992302228871267e-05,
                    "y": 0.00019706360762938857,
                    "z": 0.0006199866184033453
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.126273779547773e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 3.642091905931011e-05,
                    "y": -1.884968878584914e-05,
                    "z": 4.562819867715007e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015026024775579572,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 6.180926902743522e-06,
                    "y": 2.8241591280675493e-05,
                    "z": 0.0015023243613541126
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012426802422851324,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3696178939426318e-05,
                    "y": -9.341250006400514e-06,
                    "z": 0.0012425696477293968
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003361841954756528,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0001877057075034827,
                        "pitch": -0.20983706414699554,
                        "yaw": -0.0815734937787056
                    }
                },
                "velocity": {
                    "x": 5.359016086003976e-06,
                    "y": -1.1376358997949865e-05,
                    "z": 0.0003359489201102406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008831539307720959,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": -1.6577274436713196e-05,
                    "y": -1.299530231335666e-05,
                    "z": 0.0008829027065075934
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000894546858035028,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.3760737601842266e-05,
                    "y": 9.034841241373215e-06,
                    "z": 0.0008943954017013311
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014925921277608722,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": -5.736797902500257e-06,
                    "y": -9.972787893275381e-07,
                    "z": -0.00014914559142198414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010118685895577073,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 9.022503945743665e-06,
                    "y": -2.0169384242763044e-06,
                    "z": 0.0010118263307958841
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00040275396895594895,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.0132789611816406e-05,
                    "y": -1.4320672562462278e-05,
                    "z": 0.0004023717192467302
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00042420372483320534,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00026616762625053525,
                        "pitch": 0.2177600860595703,
                        "yaw": 179.46405029296875
                    }
                },
                "velocity": {
                    "x": 9.617619070922956e-06,
                    "y": -1.7586326066520996e-05,
                    "z": 0.00042372988536953926
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005008274456486106,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 4.4174862523505e-06,
                    "y": -1.1994199667242356e-05,
                    "z": -0.0005006643477827311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.027554992586374283,
        "expert_target_speed": 0.0,
        "target_point": [
            25.48719282592861,
            0.5210523387002421
        ],
        "target_point_next": [
            36.48405310052913,
            0.78305516983549
        ]
    },
    "810": {
        "acceleration": [
            -0.250487744808197,
            0.006633302196860313,
            -0.0013641355326399207
        ],
        "angular_velocity": [
            0.0309644415974617,
            0.022743314504623413,
            0.014102325774729252
        ],
        "forward_vector": [
            -0.9995511770248413,
            0.029742343351244926,
            0.003585092257708311
        ],
        "right_vector": [
            -0.02974219247698784,
            -0.999557614326477,
            9.587318345438689e-05
        ],
        "location": [
            -160.83749389648438,
            4291.97998046875,
            373.0359802246094
        ],
        "rotation": [
            -0.0054931640625,
            0.20541109144687653,
            178.29562377929688
        ],
        "velocity": [
            -0.025775032117962837,
            0.0008165229810401797,
            0.00031629562727175653
        ],
        "speed": 0.02578796212306398,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.68733215332031,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.297711246996187e-06,
                2.0734382815135177e-06,
                0.0006029767682775855
            ],
            "speed_kmh": 0.0021709347248961264,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4209707975387573,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.111083984375
                    },
                    "rotation": {
                        "roll": 8.254257295448042e-07,
                        "pitch": 0.03065388649702072,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -1.0086774636874907e-05,
                    "y": -0.0007632249617017806,
                    "z": -1.4209706783294678
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0441248416900635,
                "transform": {
                    "location": {
                        "x": -174.4745330810547,
                        "y": 4333.0078125,
                        "z": 373.11572265625
                    },
                    "rotation": {
                        "roll": 0.0029710663948208094,
                        "pitch": -0.1299101859331131,
                        "yaw": -90.83409881591797
                    }
                },
                "velocity": {
                    "x": 0.002401340287178755,
                    "y": -3.0441229343414307,
                    "z": -0.002342662774026394
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.059845924377441,
                "transform": {
                    "location": {
                        "x": -174.49264526367188,
                        "y": 4317.01220703125,
                        "z": 373.1160888671875
                    },
                    "rotation": {
                        "roll": 0.00010613308404572308,
                        "pitch": -0.03305128216743469,
                        "yaw": -90.04664611816406
                    }
                },
                "velocity": {
                    "x": -0.004967964254319668,
                    "y": -5.059840202331543,
                    "z": -0.005969171412289143
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": -6.670144436782266e-09,
                        "pitch": 0.19326019287109375,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.14378547668457,
                "transform": {
                    "location": {
                        "x": -174.54788208007812,
                        "y": 4297.2685546875,
                        "z": 373.08746337890625
                    },
                    "rotation": {
                        "roll": 0.07501327246427536,
                        "pitch": -0.04107675701379776,
                        "yaw": -90.30144500732422
                    }
                },
                "velocity": {
                    "x": -0.03876454010605812,
                    "y": -8.143691062927246,
                    "z": -0.005554170347750187
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003826862957794219,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.4053284758119844e-05,
                    "y": 9.471309567743447e-06,
                    "z": 0.00038231085636653006
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00015075317060109228,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -6.365031026689394e-07,
                    "y": -3.951783128286479e-06,
                    "z": 0.00015070002700667828
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007629658794030547,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0015258797211572528,
                        "pitch": 0.16369231045246124,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 4.321917731431313e-05,
                    "y": -2.0244922779966146e-05,
                    "z": 0.000761471688747406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.38541030883789,
                "transform": {
                    "location": {
                        "x": -130.1539764404297,
                        "y": 4301.7373046875,
                        "z": 372.9225158691406
                    },
                    "rotation": {
                        "roll": 0.0008682585321366787,
                        "pitch": -0.22039653360843658,
                        "yaw": -0.332122802734375
                    }
                },
                "velocity": {
                    "x": 13.385077476501465,
                    "y": -0.0784231424331665,
                    "z": -0.05259450897574425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021921096777077764,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": -9.156129635812249e-06,
                    "y": 7.130445283110021e-06,
                    "z": 0.00021890357311349362
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004524360119830817,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": -2.1811947590322234e-06,
                    "y": 4.4248085032450035e-05,
                    "z": 0.0004502618103288114
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00144878588616848,
                "transform": {
                    "location": {
                        "x": -221.9382781982422,
                        "y": 4295.5810546875,
                        "z": 373.2510986328125
                    },
                    "rotation": {
                        "roll": 0.003699321299791336,
                        "pitch": 0.2065107524394989,
                        "yaw": -179.1768798828125
                    }
                },
                "velocity": {
                    "x": 6.611186836380512e-05,
                    "y": -1.635513035580516e-05,
                    "z": 0.001447184244170785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00027706549735739827,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -9.769751341082156e-05,
                    "y": 1.0233372194079493e-07,
                    "z": 0.0002592691162135452
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0007831570692360401,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.1041238394682296e-05,
                    "y": -5.385763870435767e-07,
                    "z": 0.0007830790127627552
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006030374206602573,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.297711246996187e-06,
                    "y": 2.0734382815135177e-06,
                    "z": 0.0006029767682775855
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006956856232136488,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0001877057075034827,
                        "pitch": -0.20983706414699554,
                        "yaw": -0.0815734937787056
                    }
                },
                "velocity": {
                    "x": -9.429082297174318e-07,
                    "y": 1.5465726391994394e-05,
                    "z": 0.0006955130957067013
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00039106019539758563,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 7.921712494862732e-06,
                    "y": -9.471065823163372e-06,
                    "z": 0.00039086522883735597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5809377146069892e-05,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 9.319185664935503e-06,
                    "y": -2.433790314171347e-06,
                    "z": 1.2536579561128747e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027999651501886547,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 1.3788975593342911e-05,
                    "y": 1.3525283975468483e-05,
                    "z": 0.00027932951343245804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.3386025936342776e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 7.614344212925062e-06,
                    "y": -5.49027163287974e-07,
                    "z": 4.2709103581728414e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00018883949087467045,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 2.5296560579590732e-06,
                        "pitch": 0.2176986038684845,
                        "yaw": 179.4641876220703
                    }
                },
                "velocity": {
                    "x": 4.5649708226847e-06,
                    "y": 2.092372960760258e-05,
                    "z": 0.00018762118997983634
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0315386791480705e-05,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002288818359375,
                        "pitch": 0.20593702793121338,
                        "yaw": 179.512939453125
                    }
                },
                "velocity": {
                    "x": 8.584074748796411e-06,
                    "y": 1.625239383429289e-05,
                    "z": 8.653802979097236e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02907046116888523,
        "expert_target_speed": 0.0,
        "target_point": [
            25.48337623531155,
            0.5203672251958639
        ],
        "target_point_next": [
            36.480242378986595,
            0.7821236018200171
        ]
    },
    "815": {
        "acceleration": [
            0.19150152802467346,
            -0.005164184607565403,
            -0.0008287432137876749
        ],
        "angular_velocity": [
            0.010613329708576202,
            -0.04552663490176201,
            -0.003200836479663849
        ],
        "forward_vector": [
            -0.9995508790016174,
            0.029753783717751503,
            0.0035633963998407125
        ],
        "right_vector": [
            -0.02975369431078434,
            -0.9995572566986084,
            7.829642709111795e-05
        ],
        "location": [
            -160.8427276611328,
            4291.97998046875,
            373.0360107421875
        ],
        "rotation": [
            -0.004486083518713713,
            0.20416800677776337,
            178.2949676513672
        ],
        "velocity": [
            -0.01773829571902752,
            0.0005643697222694755,
            0.0009162330534309149
        ],
        "speed": 0.017747271570556545,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.682098388671875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2433453775884118e-05,
                1.2475021321733948e-05,
                0.0014989814953878522
            ],
            "speed_kmh": 0.005396705883793085,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2526520788669586,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.0755920410156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.030141623690724373,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -3.0607898224843666e-05,
                    "y": 0.00013352665700949728,
                    "z": 0.25265204906463623
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.8649332523345947,
                "transform": {
                    "location": {
                        "x": -174.47671508789062,
                        "y": 4332.166015625,
                        "z": 373.1145935058594
                    },
                    "rotation": {
                        "roll": 0.0009813838405534625,
                        "pitch": -0.003353622741997242,
                        "yaw": -90.6780014038086
                    }
                },
                "velocity": {
                    "x": -0.007684190757572651,
                    "y": -3.8649253845214844,
                    "z": -0.0016719531267881393
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.399553298950195,
                "transform": {
                    "location": {
                        "x": -174.49436950683594,
                        "y": 4315.73388671875,
                        "z": 373.11444091796875
                    },
                    "rotation": {
                        "roll": -0.001129147713072598,
                        "pitch": -0.11077883094549179,
                        "yaw": -90.16805267333984
                    }
                },
                "velocity": {
                    "x": -9.773413330549374e-05,
                    "y": -4.399541854858398,
                    "z": -0.00995864812284708
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00047818871098570526,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": -6.670144436782266e-09,
                        "pitch": 0.19326019287109375,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 1.2066408999089617e-05,
                    "y": -7.089525297487853e-06,
                    "z": 0.00047798387822695076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.004027366638184,
                "transform": {
                    "location": {
                        "x": -174.5582733154297,
                        "y": 4295.25439453125,
                        "z": 373.0860595703125
                    },
                    "rotation": {
                        "roll": 0.1535509079694748,
                        "pitch": -0.04346049204468727,
                        "yaw": -90.2883529663086
                    }
                },
                "velocity": {
                    "x": -0.036245644092559814,
                    "y": -8.00394344329834,
                    "z": -0.005906963255256414
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.356886322260834e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 4.239566351316171e-06,
                    "y": 4.424767212185543e-06,
                    "z": -5.321720163919963e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011382722295820713,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0011901919497177005,
                        "pitch": 0.16385622322559357,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 1.3914572264184244e-05,
                    "y": 1.4035756976227276e-05,
                    "z": 0.0011381006333976984
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.380388259887695,
                "transform": {
                    "location": {
                        "x": -126.80835723876953,
                        "y": 4301.71826171875,
                        "z": 372.90936279296875
                    },
                    "rotation": {
                        "roll": 0.0023483370896428823,
                        "pitch": -0.22439901530742645,
                        "yaw": -0.34210205078125
                    }
                },
                "velocity": {
                    "x": 13.38003921508789,
                    "y": -0.08103875815868378,
                    "z": -0.05263170599937439
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00039393347105942667,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": -2.084374273181311e-06,
                    "y": -2.98911654681433e-05,
                    "z": -0.0003927922516595572
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013416227884590626,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.868147410277743e-05,
                    "y": -2.43274280364858e-05,
                    "z": 0.0013412721455097198
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005878202500753105,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.00406081834807992,
                        "pitch": 0.2138805389404297,
                        "yaw": -179.1768341064453
                    }
                },
                "velocity": {
                    "x": 1.5100501514098141e-05,
                    "y": 1.0297293556504883e-05,
                    "z": 0.00058753602206707
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00045026338193565607,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 2.1141675460967235e-05,
                    "y": -1.4972723874961957e-05,
                    "z": 0.00044951747986488044
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011001348029822111,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 7.284805178642273e-06,
                    "y": -2.6683783289627172e-05,
                    "z": 0.001099787070415914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014990849886089563,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2433453775884118e-05,
                    "y": 1.2475021321733948e-05,
                    "z": 0.0014989814953878522
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004087838751729578,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 0.0001877057075034827,
                        "pitch": -0.20983706414699554,
                        "yaw": -0.0815734937787056
                    }
                },
                "velocity": {
                    "x": 1.6410275520684081e-06,
                    "y": 3.855723480228335e-05,
                    "z": 0.0004069581045769155
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013199731474742293,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": -5.2349128054629546e-06,
                    "y": -1.8346272554481402e-05,
                    "z": 0.0013198351953178644
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010314484825357795,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": -1.6340687579941005e-05,
                    "y": 7.783257024129853e-05,
                    "z": 0.0010283777955919504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003663167590275407,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 9.436160297582319e-08,
                    "y": -2.8960732834093506e-06,
                    "z": -0.00036630529211834073
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005004531121812761,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 7.643960088898893e-06,
                    "y": -1.8149834431824274e-05,
                    "z": 0.0005000654491595924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2647877156268805e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 2.5296560579590732e-06,
                        "pitch": 0.2176986038684845,
                        "yaw": 179.4641876220703
                    }
                },
                "velocity": {
                    "x": 4.858933152718237e-06,
                    "y": 5.630371106235543e-06,
                    "z": 1.0230272891931236e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005768468254245818,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0023193354718387127,
                        "pitch": 0.20584139227867126,
                        "yaw": 179.51309204101562
                    }
                },
                "velocity": {
                    "x": 9.628757879909244e-07,
                    "y": -1.1646700386336306e-06,
                    "z": -0.0005768448463641107
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02900094725191593,
        "expert_target_speed": 0.0,
        "target_point": [
            25.47813883103778,
            0.5205031360610125
        ],
        "target_point_next": [
            36.47500197842871,
            0.7823853618136484
        ]
    },
    "820": {
        "acceleration": [
            -0.14250296354293823,
            0.001880883937701583,
            -0.005428313743323088
        ],
        "angular_velocity": [
            -0.017439285293221474,
            0.0006514759734272957,
            -0.00827266089618206
        ],
        "forward_vector": [
            -0.9995516538619995,
            0.02973281778395176,
            0.0035273954272270203
        ],
        "right_vector": [
            -0.029732614755630493,
            -0.9995578527450562,
            0.0001097215645131655
        ],
        "location": [
            -160.84835815429688,
            4291.97998046875,
            373.0360412597656
        ],
        "rotation": [
            -0.006286621559411287,
            0.20210528373718262,
            178.29617309570312
        ],
        "velocity": [
            -0.02549264393746853,
            0.000752870284486562,
            0.0014160537393763661
        ],
        "speed": 0.025503758714899533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.67647171020508,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.925534530135337e-06,
                1.6323740055668168e-05,
                0.0007378260488621891
            ],
            "speed_kmh": 0.002657018059430898,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06125389412045479,
                "transform": {
                    "location": {
                        "x": -174.5645294189453,
                        "y": 4349.28271484375,
                        "z": 373.11468505859375
                    },
                    "rotation": {
                        "roll": 6.583895446965471e-05,
                        "pitch": 0.030312377959489822,
                        "yaw": -90.0511703491211
                    }
                },
                "velocity": {
                    "x": -4.1654806409496814e-05,
                    "y": 3.303708945168182e-05,
                    "z": 0.061253871768713
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.19150447845459,
                "transform": {
                    "location": {
                        "x": -174.4813232421875,
                        "y": 4331.0361328125,
                        "z": 373.11370849609375
                    },
                    "rotation": {
                        "roll": -0.0011596651747822762,
                        "pitch": 0.05354867875576019,
                        "yaw": -90.32315063476562
                    }
                },
                "velocity": {
                    "x": -0.006562886293977499,
                    "y": -5.191499710083008,
                    "z": -0.0019709300249814987
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.008524627424776554,
                "transform": {
                    "location": {
                        "x": -174.4938201904297,
                        "y": 4315.3984375,
                        "z": 373.1137390136719
                    },
                    "rotation": {
                        "roll": 0.010132030583918095,
                        "pitch": -0.7913525104522705,
                        "yaw": -90.25846099853516
                    }
                },
                "velocity": {
                    "x": 3.9042686694301665e-05,
                    "y": 0.00852399505674839,
                    "z": -9.616120223654434e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00010292717342963442,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.1932055503129959,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 1.2217915354995057e-05,
                    "y": -8.684172826178838e-06,
                    "z": 0.00010182981350226328
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.062867164611816,
                "transform": {
                    "location": {
                        "x": -174.56546020507812,
                        "y": 4293.24658203125,
                        "z": 373.08441162109375
                    },
                    "rotation": {
                        "roll": 0.20330551266670227,
                        "pitch": -0.05065951123833656,
                        "yaw": -90.1925048828125
                    }
                },
                "velocity": {
                    "x": -0.012371950782835484,
                    "y": -8.062851905822754,
                    "z": -0.009509401395916939
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00041374939610250294,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.0470114830241073e-05,
                    "y": -1.2300829439482186e-05,
                    "z": 0.0004134339396841824
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001732118398649618,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 2.3194252207758836e-05,
                    "y": 4.96255888720043e-05,
                    "z": 0.00016432185657322407
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012748074950650334,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0015563889173790812,
                        "pitch": 0.16363082826137543,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 5.693895582226105e-05,
                    "y": 2.8652696073550032e-06,
                    "z": 0.0012735320487990975
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.382120132446289,
                "transform": {
                    "location": {
                        "x": -123.46265411376953,
                        "y": 4301.69873046875,
                        "z": 372.8962097167969
                    },
                    "rotation": {
                        "roll": 0.0008356042089872062,
                        "pitch": -0.22381845116615295,
                        "yaw": -0.3461303412914276
                    }
                },
                "velocity": {
                    "x": 13.381771087646484,
                    "y": -0.08138818293809891,
                    "z": -0.05228879675269127
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003685366827994585,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 8.106007953756489e-06,
                    "y": 2.771092113107443e-06,
                    "z": 0.00036843708949163556
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013690277701243758,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 8.840151167532895e-06,
                    "y": -1.3716944522457197e-05,
                    "z": 0.0013689305633306503
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004942767322063446,
                        "pitch": 0.21826551854610443,
                        "yaw": -179.1768341064453
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014114042278379202,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 4.979413279215805e-05,
                    "y": 1.3722851690545212e-05,
                    "z": -0.00013135009794496
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012266379781067371,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 6.2344965954252984e-06,
                    "y": 3.440905493334867e-05,
                    "z": 0.0012261394876986742
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007380605675280094,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.925534530135337e-06,
                    "y": 1.6323740055668168e-05,
                    "z": 0.0007378260488621891
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00015483993047382683,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 2.3454542315448634e-05,
                        "pitch": -0.2097482681274414,
                        "yaw": -0.081634521484375
                    }
                },
                "velocity": {
                    "x": 2.0192452211631462e-05,
                    "y": -3.3062355214497074e-05,
                    "z": 0.00014991514035500586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004451053973753005,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": -2.437516741338186e-06,
                    "y": -1.2689307368418667e-05,
                    "z": 0.0004449178231880069
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.369038212345913e-05,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 3.8652531657135114e-05,
                    "y": 5.724863149225712e-05,
                    "z": -2.5668045054771937e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00015182116476353258,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.1270120694462094e-06,
                    "y": -9.710625818115659e-06,
                    "z": -0.0001515061012469232
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00042216177098453045,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 5.860998953721719e-06,
                    "y": -1.0319018883819808e-06,
                    "z": 0.0004221198323648423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00028692849446088076,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 2.5296560579590732e-06,
                        "pitch": 0.2176986038684845,
                        "yaw": 179.4641876220703
                    }
                },
                "velocity": {
                    "x": 3.1184777071757708e-06,
                    "y": 1.1390134204702917e-05,
                    "z": 0.0002866853610612452
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003889483632519841,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0027770986780524254,
                        "pitch": 0.20592336356639862,
                        "yaw": 179.51309204101562
                    }
                },
                "velocity": {
                    "x": 4.015713784610853e-06,
                    "y": -1.7946422303793952e-06,
                    "z": -0.00038892350858077407
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.029926665127277374,
        "expert_target_speed": 0.0,
        "target_point": [
            25.47252174216232,
            0.5198011741122591
        ],
        "target_point_next": [
            36.46939038164063,
            0.7814526764364889
        ]
    },
    "825": {
        "acceleration": [
            0.23580513894557953,
            8.124741725623608e-05,
            -0.010405350476503372
        ],
        "angular_velocity": [
            -0.001813025795854628,
            -0.041816435754299164,
            0.003101309295743704
        ],
        "forward_vector": [
            -0.9995510578155518,
            0.029755936935544014,
            0.0034990236163139343
        ],
        "right_vector": [
            -0.029755854979157448,
            -0.9995571970939636,
            7.563330291304737e-05
        ],
        "location": [
            -160.85311889648438,
            4291.97998046875,
            373.03607177734375
        ],
        "rotation": [
            -0.004333495628088713,
            0.20047970116138458,
            178.2948455810547
        ],
        "velocity": [
            -0.011785777285695076,
            0.0004190195759292692,
            0.0011493777856230736
        ],
        "speed": 0.011793223631942962,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.67171096801758,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                5.7382135310035665e-06,
                -6.3657392956884e-07,
                0.00038797862362116575
            ],
            "speed_kmh": 0.0013968776794744725,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2199368476867676,
                "transform": {
                    "location": {
                        "x": -174.56100463867188,
                        "y": 4348.96630859375,
                        "z": 373.1187744140625
                    },
                    "rotation": {
                        "roll": -0.0013732926454395056,
                        "pitch": 0.07276882976293564,
                        "yaw": -89.9576416015625
                    }
                },
                "velocity": {
                    "x": 0.01735813543200493,
                    "y": -2.2198691368103027,
                    "z": -0.00047947882558219135
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.628040790557861,
                "transform": {
                    "location": {
                        "x": -174.48500061035156,
                        "y": 4329.638671875,
                        "z": 373.1130065917969
                    },
                    "rotation": {
                        "roll": -0.0017700206954032183,
                        "pitch": 0.0657200738787651,
                        "yaw": -90.07881927490234
                    }
                },
                "velocity": {
                    "x": -0.004920667037367821,
                    "y": -6.6280388832092285,
                    "z": -0.0019829750526696444
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004282461013644934,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3955078125,
                        "z": 373.1138916015625
                    },
                    "rotation": {
                        "roll": 0.0031758148688822985,
                        "pitch": -0.2518632113933563,
                        "yaw": -90.25840759277344
                    }
                },
                "velocity": {
                    "x": -0.00040604142122901976,
                    "y": 0.003747671376913786,
                    "z": 0.002032132586464286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003248558205086738,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.1932055503129959,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -5.55582062133908e-07,
                    "y": -4.618726507032989e-06,
                    "z": 0.0003248224966228008
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052434921264648,
                "transform": {
                    "location": {
                        "x": -174.5684356689453,
                        "y": 4291.23193359375,
                        "z": 373.0826110839844
                    },
                    "rotation": {
                        "roll": 0.2095167487859726,
                        "pitch": -0.06380762159824371,
                        "yaw": -90.07258605957031
                    }
                },
                "velocity": {
                    "x": -0.003582057310268283,
                    "y": -8.052424430847168,
                    "z": -0.012441462837159634
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003507716173771769,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": -4.200488092465093e-06,
                    "y": -3.7773518215544755e-06,
                    "z": 0.000350726128090173
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00047562443069182336,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 3.4794954899552977e-06,
                    "y": 4.9870061047840863e-05,
                    "z": 0.00047298992285504937
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009764515561982989,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0015563889173790812,
                        "pitch": 0.16372644901275635,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 8.609429642092437e-06,
                    "y": -1.0592340913717635e-05,
                    "z": 0.0009763561538420618
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 13.382715225219727,
                "transform": {
                    "location": {
                        "x": -120.11695098876953,
                        "y": 4301.67822265625,
                        "z": 372.88299560546875
                    },
                    "rotation": {
                        "roll": 0.0013170847669243813,
                        "pitch": -0.22528012096881866,
                        "yaw": -0.3574218451976776
                    }
                },
                "velocity": {
                    "x": 13.382355690002441,
                    "y": -0.08253666013479233,
                    "z": -0.05298352986574173
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001396111329086125,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.1534243640198838e-05,
                    "y": -7.924308192741591e-06,
                    "z": 0.00013890801346860826
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010247081518173218,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 4.2824444790312555e-06,
                    "y": 1.1502588677103631e-05,
                    "z": 0.001024634693749249
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009201546781696379,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004942767322063446,
                        "pitch": 0.21826551854610443,
                        "yaw": -179.1768341064453
                    }
                },
                "velocity": {
                    "x": 8.972249815997202e-06,
                    "y": 4.279396762285614e-06,
                    "z": 0.0009201010107062757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.537960143759847e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -2.3055708879837766e-05,
                    "y": -3.3678486488497583e-06,
                    "z": 6.108669185778126e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009152435814030468,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 6.389357167790877e-06,
                    "y": 5.060706098447554e-05,
                    "z": 0.0009138210443779826
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003880215808749199,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 5.7382135310035665e-06,
                    "y": -6.3657392956884e-07,
                    "z": 0.00038797862362116575
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005605971673503518,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 2.3454542315448634e-05,
                        "pitch": -0.2097482681274414,
                        "yaw": -0.081634521484375
                    }
                },
                "velocity": {
                    "x": 1.3941414181317668e-05,
                    "y": 1.092901857191464e-05,
                    "z": 0.0005603172467090189
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015198559267446399,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": -1.4101869965088554e-05,
                    "y": -1.694027378107421e-05,
                    "z": 0.0015196960885077715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008343028021045029,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": -1.3656317605637014e-05,
                    "y": -2.4579036107752472e-05,
                    "z": 0.0008338288171216846
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.9202046789578162e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 3.6015733257954707e-06,
                    "y": -1.0328077223675791e-05,
                    "z": 2.7076170226791874e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006961376057006419,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 9.462833077122923e-06,
                    "y": 3.762960147923877e-07,
                    "z": 0.0006960731698200107
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00011938141688005999,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00046862399904057384,
                        "pitch": 0.21762347221374512,
                        "yaw": 179.46421813964844
                    }
                },
                "velocity": {
                    "x": 6.936415957170539e-06,
                    "y": 7.953311069286428e-06,
                    "z": 0.00011891406029462814
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008112925570458174,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0025939932093024254,
                        "pitch": 0.20590287446975708,
                        "yaw": 179.51309204101562
                    }
                },
                "velocity": {
                    "x": 4.5646352191397455e-06,
                    "y": 4.360870207165135e-06,
                    "z": -0.0008112679934129119
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03193475306034088,
        "expert_target_speed": 0.0,
        "target_point": [
            25.46775095594414,
            0.5202546795345073
        ],
        "target_point_next": [
            36.46461347892794,
            0.7821631238512605
        ]
    },
    "830": {
        "acceleration": [
            -0.17480939626693726,
            0.0029859975911676884,
            0.006722831167280674
        ],
        "angular_velocity": [
            0.010565741918981075,
            0.025623977184295654,
            -0.004304719623178244
        ],
        "forward_vector": [
            -0.9995504021644592,
            0.029778815805912018,
            0.003489129478111863
        ],
        "right_vector": [
            -0.029778650030493736,
            -0.9995564818382263,
            9.960160969058052e-05
        ],
        "location": [
            -160.85679626464844,
            4291.97998046875,
            373.03607177734375
        ],
        "rotation": [
            -0.005706786643713713,
            0.19991280138492584,
            178.2935333251953
        ],
        "velocity": [
            -0.01566850207746029,
            0.00039585860213264823,
            0.0017237376887351274
        ],
        "speed": 0.015673501886440688,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.668033599853516,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2670270734815858e-05,
                -1.5272994460246991e-06,
                0.001098696724511683
            ],
            "speed_kmh": 0.003955575027313226,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.160097122192383,
                "transform": {
                    "location": {
                        "x": -174.55694580078125,
                        "y": 4348.28125,
                        "z": 373.11859130859375
                    },
                    "rotation": {
                        "roll": -0.0008850135491229594,
                        "pitch": 0.057954151183366776,
                        "yaw": -89.77841186523438
                    }
                },
                "velocity": {
                    "x": 0.02719535119831562,
                    "y": -3.159979820251465,
                    "z": -0.001053180661983788
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.2559895515441895,
                "transform": {
                    "location": {
                        "x": -174.48703002929688,
                        "y": 4327.81201171875,
                        "z": 373.11236572265625
                    },
                    "rotation": {
                        "roll": -0.00012207130203023553,
                        "pitch": 0.034861285239458084,
                        "yaw": -90.04241180419922
                    }
                },
                "velocity": {
                    "x": -0.005598477553576231,
                    "y": -7.255987167358398,
                    "z": -0.0022744941525161266
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.39404296875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0009448025957681239,
                        "pitch": -0.12088067829608917,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005992807564325631,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.1932055503129959,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -4.819740297534736e-06,
                    "y": -9.9783765108441e-06,
                    "z": 0.0005991782527416945
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083620071411133,
                "transform": {
                    "location": {
                        "x": -174.56851196289062,
                        "y": 4289.21533203125,
                        "z": 373.07672119140625
                    },
                    "rotation": {
                        "roll": 0.15734988451004028,
                        "pitch": -0.22924846410751343,
                        "yaw": -90.02857971191406
                    }
                },
                "velocity": {
                    "x": 0.0017703850753605366,
                    "y": -8.0835542678833,
                    "z": -0.03272068500518799
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001052552368491888,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -4.741102202387992e-06,
                    "y": -2.6115170840057544e-05,
                    "z": 0.0010522176744416356
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015258884523063898,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0010375926503911614,
                        "pitch": 0.16386988759040833,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -3.5026518162339926e-05,
                    "y": -1.5826075468794443e-05,
                    "z": 0.0015254042809829116
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 12.600374221801758,
                "transform": {
                    "location": {
                        "x": -116.82976531982422,
                        "y": 4301.65771484375,
                        "z": 372.8707580566406
                    },
                    "rotation": {
                        "roll": 0.0011953887296840549,
                        "pitch": -0.40655332803726196,
                        "yaw": -0.354034423828125
                    }
                },
                "velocity": {
                    "x": 12.600028991699219,
                    "y": -0.07817345857620239,
                    "z": -0.05094553530216217
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003232315939385444,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.604337194294203e-05,
                    "y": -1.598868220753502e-05,
                    "z": 0.0003224370302632451
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011510280892252922,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.2494624002101773e-07,
                    "y": 4.626922418538015e-06,
                    "z": 0.001151018775999546
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004813068953808397,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004942767322063446,
                        "pitch": 0.21826551854610443,
                        "yaw": -179.1768341064453
                    }
                },
                "velocity": {
                    "x": 9.228810085915029e-06,
                    "y": -3.8055627555877436e-06,
                    "z": 0.0004812033730559051
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00026971299666911364,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -2.9217781047918834e-05,
                    "y": 3.900229785358533e-06,
                    "z": 0.00026809738483279943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001397054409608245,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 8.192807399609592e-06,
                    "y": -8.098526450339705e-06,
                    "z": 0.0013970069121569395
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010987708810716867,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2670270734815858e-05,
                    "y": -1.5272994460246991e-06,
                    "z": 0.001098696724511683
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00037623182288371027,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.20989853143692017,
                        "yaw": -0.0816650465130806
                    }
                },
                "velocity": {
                    "x": 2.8975158784305677e-05,
                    "y": 2.412031426501926e-05,
                    "z": -0.000374338123947382
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011194113176316023,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 1.2673709534283262e-05,
                    "y": -9.017996490001678e-06,
                    "z": 0.001119303284212947
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003922075848095119,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 2.1461955839185975e-05,
                    "y": -2.3906646674731746e-05,
                    "z": 0.0003908895596396178
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005213705589994788,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 6.127580945758382e-06,
                    "y": -2.035618308582343e-05,
                    "z": 0.0005209369701333344
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00036021345295011997,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 8.690953109180555e-06,
                    "y": -1.0346178896725178e-05,
                    "z": 0.00035995992948301136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006765836151316762,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00016311205399688333,
                        "pitch": 0.2176644504070282,
                        "yaw": 179.46421813964844
                    }
                },
                "velocity": {
                    "x": 8.131935828714631e-06,
                    "y": 1.3157002740626922e-06,
                    "z": 0.0006765334401279688
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000851814984343946,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0022888181265443563,
                        "pitch": 0.20590287446975708,
                        "yaw": 179.51309204101562
                    }
                },
                "velocity": {
                    "x": 4.256591182638658e-06,
                    "y": -7.482988166884752e-06,
                    "z": -0.0008517715032212436
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.029864829033613205,
        "expert_target_speed": 0.0,
        "target_point": [
            25.46406330429256,
            0.5207280822216247
        ],
        "target_point_next": [
            36.46091982978734,
            0.7828882246781343
        ]
    },
    "835": {
        "acceleration": [
            0.21661746501922607,
            -0.006270538549870253,
            -0.004712868481874466
        ],
        "angular_velocity": [
            0.028683200478553772,
            -0.04571230337023735,
            0.003486852627247572
        ],
        "forward_vector": [
            -0.9995503425598145,
            0.029780961573123932,
            0.003484241897240281
        ],
        "right_vector": [
            -0.029780805110931396,
            -0.9995564222335815,
            9.693844913272187e-05
        ],
        "location": [
            -160.85952758789062,
            4291.97998046875,
            373.0361328125
        ],
        "rotation": [
            -0.005554197821766138,
            0.19963276386260986,
            178.2934112548828
        ],
        "velocity": [
            -0.004477584734559059,
            9.8552176496014e-05,
            0.0007970905280672014
        ],
        "speed": 0.0044786691758432464,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.66529846191406,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                4.193298536847578e-06,
                -8.930792319006287e-06,
                0.00015921927115414292
            ],
            "speed_kmh": 0.0005742887981473556,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9069244861602783,
                "transform": {
                    "location": {
                        "x": -174.55030822753906,
                        "y": 4347.3935546875,
                        "z": 373.1188049316406
                    },
                    "rotation": {
                        "roll": -0.00012206965038785711,
                        "pitch": 0.047538112848997116,
                        "yaw": -89.65209197998047
                    }
                },
                "velocity": {
                    "x": 0.03462972119450569,
                    "y": -3.9067704677581787,
                    "z": 0.0019223785493522882
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.943958759307861,
                "transform": {
                    "location": {
                        "x": -174.4879608154297,
                        "y": 4326.19677734375,
                        "z": 373.11273193359375
                    },
                    "rotation": {
                        "roll": -3.051581370527856e-05,
                        "pitch": -0.1293637752532959,
                        "yaw": -90.04006958007812
                    }
                },
                "velocity": {
                    "x": -0.0027282347436994314,
                    "y": -4.943957328796387,
                    "z": -0.0019333934178575873
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0013369536027312279,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006610616110265255,
                        "pitch": -0.0831848680973053,
                        "yaw": -90.25841522216797
                    }
                },
                "velocity": {
                    "x": -6.039318395778537e-05,
                    "y": 0.0002895929501391947,
                    "z": 0.0013038149336352944
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008436811622232199,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -9.154772851616144e-05,
                        "pitch": 0.19302113354206085,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -5.7158035815518815e-06,
                    "y": -8.249357051681727e-06,
                    "z": 0.0008436214993707836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045358657836914,
                "transform": {
                    "location": {
                        "x": -174.5671844482422,
                        "y": 4287.19970703125,
                        "z": 373.06781005859375
                    },
                    "rotation": {
                        "roll": 0.10091566294431686,
                        "pitch": -0.34676867723464966,
                        "yaw": -89.97783660888672
                    }
                },
                "velocity": {
                    "x": 0.006883807014673948,
                    "y": -8.045233726501465,
                    "z": -0.04433843865990639
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001113934995373711,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.2315884305280633e-05,
                    "y": 7.976633241923992e-06,
                    "z": 0.00011042284313589334
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000793477869592607,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 2.5455317882006057e-05,
                    "y": 9.138404857367277e-05,
                    "z": 0.0007877868483774364
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006455018883571029,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0011596628464758396,
                        "pitch": 0.16373328864574432,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -4.774715125677176e-05,
                    "y": 4.039350642415229e-06,
                    "z": 0.0006437209085561335
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 11.027698516845703,
                "transform": {
                    "location": {
                        "x": -113.90335845947266,
                        "y": 4301.64013671875,
                        "z": 372.8604736328125
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": -0.7536020278930664,
                        "yaw": -0.3565368354320526
                    }
                },
                "velocity": {
                    "x": 11.027413368225098,
                    "y": -0.06625626981258392,
                    "z": -0.04358571395277977
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00018286473641637713,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.4559179362549912e-05,
                    "y": -1.919074463785364e-07,
                    "z": 0.00018228412955068052
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000707223080098629,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 2.092875547532458e-05,
                    "y": 4.1323579353047535e-05,
                    "z": 0.0007057045004330575
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0014333429280668497,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004942767322063446,
                        "pitch": 0.21826551854610443,
                        "yaw": -179.1768341064453
                    }
                },
                "velocity": {
                    "x": 8.653067197883502e-06,
                    "y": -2.7884473183803493e-06,
                    "z": 0.0014333140570670366
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.381317168939859e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 1.18971647680155e-05,
                    "y": -1.1018234545190353e-05,
                    "z": 5.1311923016328365e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00015952465764712542,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 4.193298536847578e-06,
                    "y": -8.930792319006287e-06,
                    "z": 0.00015921927115414292
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00026966724544763565,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": -0.21035616099834442,
                        "yaw": -0.0816650465130806
                    }
                },
                "velocity": {
                    "x": -1.1184140930708963e-05,
                    "y": -1.3394894267548807e-05,
                    "z": 0.0002691020490601659
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00030714835156686604,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 2.970141622427036e-06,
                    "y": -9.166300515062176e-06,
                    "z": 0.00030699718627147377
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.421813042019494e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 7.025748345768079e-06,
                    "y": -3.2514071790501475e-07,
                    "z": 2.317435973964166e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008338518673554063,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.2174844414403196e-05,
                    "y": 8.536851964890957e-06,
                    "z": 0.0008337192703038454
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00020217309065628797,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.0002476875379215926,
                        "pitch": 0.21763713657855988,
                        "yaw": 179.46424865722656
                    }
                },
                "velocity": {
                    "x": 6.48569312033942e-06,
                    "y": -2.472062988090329e-05,
                    "z": -0.00020055120694451034
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00042232032865285873,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0018615726148709655,
                        "pitch": 0.20614193379878998,
                        "yaw": 179.5131072998047
                    }
                },
                "velocity": {
                    "x": 4.487819751375355e-06,
                    "y": -1.4288842066889629e-05,
                    "z": -0.00042205466888844967
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.029311351478099823,
        "expert_target_speed": 0.0,
        "target_point": [
            25.461332199257786,
            0.5206953102382692
        ],
        "target_point_next": [
            36.45818822470177,
            0.782876427533561
        ]
    },
    "840": {
        "acceleration": [
            -0.21415674686431885,
            0.003839511889964342,
            0.006247329525649548
        ],
        "angular_velocity": [
            0.0009524311171844602,
            0.0418756864964962,
            0.0013520339271053672
        ],
        "forward_vector": [
            -0.9995516538619995,
            0.029735442250967026,
            0.0035033151507377625
        ],
        "right_vector": [
            -0.029735390096902847,
            -0.9995577931404114,
            6.711124296998605e-05
        ],
        "location": [
            -160.8625030517578,
            4291.97998046875,
            373.0361328125
        ],
        "rotation": [
            -0.0038452146109193563,
            0.20072558522224426,
            178.2960205078125
        ],
        "velocity": [
            -0.014852046966552734,
            0.0004072917508892715,
            0.0012566375080496073
        ],
        "speed": 0.014857630553592007,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.662322998046875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4244205885916017e-05,
                -4.8067563511722255e-06,
                0.001429880503565073
            ],
            "speed_kmh": 0.005147854307176289,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.650323390960693,
                "transform": {
                    "location": {
                        "x": -174.54132080078125,
                        "y": 4346.32080078125,
                        "z": 373.11932373046875
                    },
                    "rotation": {
                        "roll": -0.00042724376544356346,
                        "pitch": 0.04053033888339996,
                        "yaw": -89.57225036621094
                    }
                },
                "velocity": {
                    "x": 0.04238447546958923,
                    "y": -4.650129795074463,
                    "z": 0.0017610167851671576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0018762319814413786,
                "transform": {
                    "location": {
                        "x": -174.4882049560547,
                        "y": 4325.7548828125,
                        "z": 373.11358642578125
                    },
                    "rotation": {
                        "roll": -0.0014343226794153452,
                        "pitch": -0.32501453161239624,
                        "yaw": -90.0129165649414
                    }
                },
                "velocity": {
                    "x": -0.00012977828737348318,
                    "y": 0.0005263256025500596,
                    "z": -0.0017962142592296004
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010330942459404469,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": -6.103819760028273e-05,
                        "pitch": -0.07589706033468246,
                        "yaw": -90.25841522216797
                    }
                },
                "velocity": {
                    "x": -3.394469240447506e-05,
                    "y": -1.161415070782823e-06,
                    "z": 0.001032535801641643
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004774830013047904,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -9.154772851616144e-05,
                        "pitch": 0.19302113354206085,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 1.0156994903809391e-05,
                    "y": -6.8337467382662e-06,
                    "z": 0.0004773260443471372
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079803466796875,
                "transform": {
                    "location": {
                        "x": -174.56491088867188,
                        "y": 4285.18310546875,
                        "z": 373.0580139160156
                    },
                    "rotation": {
                        "roll": 0.03128314018249512,
                        "pitch": -0.22289638221263885,
                        "yaw": -89.96141052246094
                    }
                },
                "velocity": {
                    "x": 0.006000894587486982,
                    "y": -8.079750061035156,
                    "z": -0.028727583587169647
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002270177792524919,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 8.2650403783191e-06,
                    "y": -8.22533002065029e-06,
                    "z": 0.00022671812621410936
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005782482912763953,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 1.882512151496485e-05,
                    "y": -7.297083357116207e-05,
                    "z": 0.0005733165889978409
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001428259420208633,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0014953638892620802,
                        "pitch": 0.16385622322559357,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 4.399253521114588e-05,
                    "y": -4.991944933863124e-06,
                    "z": 0.0014275730354711413
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.357649803161621,
                "transform": {
                    "location": {
                        "x": -111.51242065429688,
                        "y": 4301.62548828125,
                        "z": 372.8523254394531
                    },
                    "rotation": {
                        "roll": -0.0004272462392691523,
                        "pitch": -1.1352524757385254,
                        "yaw": -0.3360595703125
                    }
                },
                "velocity": {
                    "x": 8.35743522644043,
                    "y": -0.04890472814440727,
                    "z": -0.03444375470280647
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00028523520450107753,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.6281753687508171e-06,
                    "y": -2.1886384274694137e-05,
                    "z": 0.0002843896218109876
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009188391268253326,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.712091216177214e-05,
                    "y": 9.254192264052108e-06,
                    "z": 0.000918633013498038
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005939021939411759,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004942767322063446,
                        "pitch": 0.21826551854610443,
                        "yaw": -179.1768341064453
                    }
                },
                "velocity": {
                    "x": 1.059882288245717e-05,
                    "y": -8.114027878036723e-06,
                    "z": 0.0005937521927990019
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003319712122902274,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -4.834366700379178e-05,
                    "y": 6.60339355817996e-06,
                    "z": 0.0003283659170847386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001029778621159494,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.4728195310453884e-05,
                    "y": -2.1216019376879558e-05,
                    "z": 0.0010294547537341714
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0014299595495685935,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4244205885916017e-05,
                    "y": -4.8067563511722255e-06,
                    "z": 0.001429880503565073
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005480402032844722,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0816955715417862
                    }
                },
                "velocity": {
                    "x": 5.112699909659568e-06,
                    "y": 3.3401960536139086e-05,
                    "z": 0.0005469974712468684
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001530608395114541,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 1.4918489341653185e-06,
                    "y": -2.050023431365844e-05,
                    "z": 0.0015304703265428543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006988139939494431,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.0251104868075345e-05,
                    "y": 1.8371272744843736e-05,
                    "z": 0.000698497227858752
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00015519668522756547,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": -6.152055902930442e-06,
                    "y": -1.4788126918574562e-06,
                    "z": -0.00015506765339523554
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001072453334927559,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.0595060302875936e-05,
                    "y": -6.1356167861958966e-06,
                    "z": 0.001072383369319141
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00038283970206975937,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.00043174857273697853,
                        "pitch": 0.21791717410087585,
                        "yaw": 179.46424865722656
                    }
                },
                "velocity": {
                    "x": 1.2375227925076615e-05,
                    "y": 1.4345412637339905e-05,
                    "z": 0.0003823706356342882
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006763748242519796,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0018615726148709655,
                        "pitch": 0.20614193379878998,
                        "yaw": 179.5131072998047
                    }
                },
                "velocity": {
                    "x": 5.694292212865548e-06,
                    "y": -7.966035809658933e-06,
                    "z": -0.000676303927320987
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03045530617237091,
        "expert_target_speed": 0.0,
        "target_point": [
            25.45838185995129,
            0.5194413070295542
        ],
        "target_point_next": [
            36.45524987557255,
            0.7811190279309961
        ]
    },
    "845": {
        "acceleration": [
            0.21734032034873962,
            -0.005182785913348198,
            0.004608153831213713
        ],
        "angular_velocity": [
            -0.012376177124679089,
            -0.046590279787778854,
            -0.0015636580064892769
        ],
        "forward_vector": [
            -0.9995506405830383,
            0.029767373576760292,
            0.0035190510097891092
        ],
        "right_vector": [
            -0.029767291620373726,
            -0.999556839466095,
            7.563328108517453e-05
        ],
        "location": [
            -160.8653106689453,
            4291.97998046875,
            373.0361328125
        ],
        "rotation": [
            -0.004333494696766138,
            0.20162717998027802,
            178.294189453125
        ],
        "velocity": [
            -0.002803540788590908,
            8.482088742312044e-05,
            0.0014694595010951161
        ],
        "speed": 0.002804823619452064,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.659515380859375,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.779892934602685e-06,
                4.282010195311159e-06,
                0.0008157990523613989
            ],
            "speed_kmh": 0.0029371280703659186,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.219437122344971,
                "transform": {
                    "location": {
                        "x": -174.5302276611328,
                        "y": 4345.0634765625,
                        "z": 373.12017822265625
                    },
                    "rotation": {
                        "roll": -0.0007019037147983909,
                        "pitch": 0.03141886740922928,
                        "yaw": -89.51780700683594
                    }
                },
                "velocity": {
                    "x": 0.04786248505115509,
                    "y": -5.219217300415039,
                    "z": 0.0024855993688106537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2118561267852783,
                "transform": {
                    "location": {
                        "x": -174.48851013183594,
                        "y": 4325.54052734375,
                        "z": 373.1117248535156
                    },
                    "rotation": {
                        "roll": -0.00033569327206350863,
                        "pitch": -0.05492837727069855,
                        "yaw": -90.00411987304688
                    }
                },
                "velocity": {
                    "x": -0.00504301069304347,
                    "y": -1.21184504032135,
                    "z": 0.001250734319910407
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009129918762482703,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -5.273499482427724e-05,
                    "y": -1.2231151913510985e-06,
                    "z": 0.0009114667773246765
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00024120695888996124,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 0.00022827234352007508,
                        "pitch": 0.1931031048297882,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -6.583713457075646e-06,
                    "y": -8.179955329978839e-06,
                    "z": 0.00024097829009406269
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045013427734375,
                "transform": {
                    "location": {
                        "x": -174.56295776367188,
                        "y": 4283.16748046875,
                        "z": 373.0508117675781
                    },
                    "rotation": {
                        "roll": -0.0054931617341935635,
                        "pitch": -0.13641253113746643,
                        "yaw": -89.94253540039062
                    }
                },
                "velocity": {
                    "x": 0.00996116641908884,
                    "y": -8.044981002807617,
                    "z": -0.020486244931817055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00036343789543025196,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 3.0733272069483064e-06,
                    "y": 2.8065435344615253e-06,
                    "z": 0.0003634140593931079
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004951012670062482,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 8.721649464860093e-07,
                    "y": -3.1577059417031705e-05,
                    "z": 0.0004940925282426178
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009525036439299583,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0014953638892620802,
                        "pitch": 0.16385622322559357,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 4.485512363316957e-06,
                    "y": -3.189500421285629e-05,
                    "z": 0.0009519589366391301
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.675951957702637,
                "transform": {
                    "location": {
                        "x": -109.6586685180664,
                        "y": 4301.61474609375,
                        "z": 372.8447570800781
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": -1.0712536573410034,
                        "yaw": -0.3593749701976776
                    }
                },
                "velocity": {
                    "x": 6.675784111022949,
                    "y": -0.03905384615063667,
                    "z": -0.02674032188951969
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009995878208428621,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.064602292899508e-05,
                    "y": 8.423951840086374e-06,
                    "z": 0.0009994956199079752
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012414874508976936,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.1884942068718374e-05,
                    "y": 3.610795829445124e-05,
                    "z": 0.001240905374288559
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0018223213264718652,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004942767322063446,
                        "pitch": 0.21826551854610443,
                        "yaw": -179.1768341064453
                    }
                },
                "velocity": {
                    "x": 9.79434662440326e-06,
                    "y": -1.134697777160909e-05,
                    "z": 0.001822259626351297
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003092263068538159,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -7.109660509740934e-05,
                    "y": 6.207935257407371e-06,
                    "z": 0.00030087813502177596
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010461283382028341,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 2.1986104911775328e-05,
                    "y": 2.4176639271900058e-05,
                    "z": 0.001045617857016623
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008158689015544951,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.779892934602685e-06,
                    "y": 4.282010195311159e-06,
                    "z": 0.0008157990523613989
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005913396598771214,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0816955715417862
                    }
                },
                "velocity": {
                    "x": 1.6854404748301022e-05,
                    "y": -2.8328389817033894e-05,
                    "z": -0.0005904202116653323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006220964132808149,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 1.935762702487409e-05,
                    "y": -1.8013901353697293e-05,
                    "z": 0.0006215341854840517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00019553513266146183,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 8.74534271133598e-06,
                    "y": -2.444000892865006e-05,
                    "z": -0.00019380453159101307
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021624346845783293,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": -1.662075533204188e-06,
                    "y": 1.1486499715829268e-05,
                    "z": -0.00021593179553747177
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003280506352894008,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.0026581549027469e-05,
                    "y": -5.962063369224779e-06,
                    "z": 0.00032784315408207476
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005355271860025823,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.00043174857273697853,
                        "pitch": 0.21791717410087585,
                        "yaw": 179.46424865722656
                    }
                },
                "velocity": {
                    "x": 9.433105333300773e-06,
                    "y": -1.941771733982023e-05,
                    "z": 0.0005350919091142714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00015411910135298967,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002899169223383069,
                        "pitch": 0.20585505664348602,
                        "yaw": 179.51316833496094
                    }
                },
                "velocity": {
                    "x": 7.795504643581808e-06,
                    "y": 3.6255351005820557e-06,
                    "z": -0.00015387911116704345
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02899015322327614,
        "expert_target_speed": 0.0,
        "target_point": [
            25.455558630721686,
            0.5201832174737157
        ],
        "target_point_next": [
            36.45241815568108,
            0.782217510877506
        ]
    },
    "850": {
        "acceleration": [
            -0.17122334241867065,
            0.0023280258756130934,
            0.0008811941370368004
        ],
        "angular_velocity": [
            0.008147737011313438,
            0.028948727995157242,
            0.03332997113466263
        ],
        "forward_vector": [
            -0.9995520710945129,
            0.029718995094299316,
            0.0035288261715322733
        ],
        "right_vector": [
            -0.029718805104494095,
            -0.9995582699775696,
            0.00010599313827697188
        ],
        "location": [
            -160.8681182861328,
            4291.97998046875,
            373.0361328125
        ],
        "rotation": [
            -0.006072997115552425,
            0.20218725502490997,
            178.29696655273438
        ],
        "velocity": [
            -0.014973917044699192,
            0.00041100583621300757,
            0.0012099456507712603
        ],
        "speed": 0.014979556650947122,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.656707763671875,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.283727578993421e-05,
                -3.5975442642666167e-06,
                0.00029085282585583627
            ],
            "speed_kmh": 0.0010481695623822714,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.094448566436768,
                "transform": {
                    "location": {
                        "x": -174.51780700683594,
                        "y": 4343.66650390625,
                        "z": 373.12042236328125
                    },
                    "rotation": {
                        "roll": 0.0006324162241071463,
                        "pitch": 0.03339279443025589,
                        "yaw": -89.50753784179688
                    }
                },
                "velocity": {
                    "x": 0.042611125856637955,
                    "y": -6.09429931640625,
                    "z": 0.0017947482410818338
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00024054845562204719,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.447265625,
                        "z": 373.1117248535156
                    },
                    "rotation": {
                        "roll": -0.0014648440992459655,
                        "pitch": -0.09732335805892944,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": -3.8815149309812114e-05,
                    "y": 0.0001593786000739783,
                    "z": -0.00017594148812349886
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010295065585523844,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -3.239569196011871e-05,
                    "y": 6.9442389758478384e-06,
                    "z": 0.0010289732599630952
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009354050853289664,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": -0.0001220769772771746,
                        "pitch": 0.19323286414146423,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -1.6137031479956931e-06,
                    "y": -1.1058002201025374e-05,
                    "z": 0.0009353383211418986
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079293251037598,
                "transform": {
                    "location": {
                        "x": -174.56007385253906,
                        "y": 4281.15185546875,
                        "z": 373.0458984375
                    },
                    "rotation": {
                        "roll": -0.0010681144194677472,
                        "pitch": -0.1488366425037384,
                        "yaw": -89.9158935546875
                    }
                },
                "velocity": {
                    "x": 0.013185014016926289,
                    "y": -8.079254150390625,
                    "z": -0.021577633917331696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.760998753132299e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 7.235780230985256e-06,
                    "y": 6.388979727489641e-06,
                    "z": -8.707660163054243e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.018315566005185e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 1.5680491287639597e-06,
                    "y": 3.556369847501628e-05,
                    "z": 7.184777496149763e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010683697182685137,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0018005426973104477,
                        "pitch": 0.16378793120384216,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 2.6811430871021003e-06,
                    "y": 1.3348664651857689e-05,
                    "z": 0.0010682829888537526
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6927995681762695,
                "transform": {
                    "location": {
                        "x": -108.58671569824219,
                        "y": 4301.6083984375,
                        "z": 372.84326171875
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": -1.8960535526275635,
                        "yaw": -0.2919005751609802
                    }
                },
                "velocity": {
                    "x": 1.6927523612976074,
                    "y": -0.009675917215645313,
                    "z": -0.008122271858155727
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006349048344418406,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 6.637237675022334e-06,
                    "y": -8.060114851105027e-06,
                    "z": -0.0006348189781419933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011853923788294196,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0004576129140332341,
                        "pitch": -0.20083487033843994,
                        "yaw": -0.0909728929400444
                    }
                },
                "velocity": {
                    "x": 1.448433795303572e-05,
                    "y": 4.694801646110136e-06,
                    "z": 0.001185294589959085
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0007419354515150189,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004942767322063446,
                        "pitch": 0.21826551854610443,
                        "yaw": -179.1768341064453
                    }
                },
                "velocity": {
                    "x": 1.3856477380613796e-05,
                    "y": -2.0148303519818e-05,
                    "z": 0.0007415323634631932
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.757570837275125e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 2.487602068868e-05,
                    "y": -8.307583811983932e-06,
                    "z": -8.519823495589662e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001124178757891059,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": 0.0011929903412237763,
                        "pitch": 0.2251025289297104,
                        "yaw": 179.83453369140625
                    }
                },
                "velocity": {
                    "x": 1.4081709196034353e-05,
                    "y": -3.5761925119004445e-06,
                    "z": 0.0011240848107263446
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002911582123488188,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.283727578993421e-05,
                    "y": -3.5975442642666167e-06,
                    "z": 0.00029085282585583627
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021807578741572797,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -9.155271982308477e-05,
                        "pitch": -0.20980973541736603,
                        "yaw": -0.0816955715417862
                    }
                },
                "velocity": {
                    "x": 2.2711603833158733e-06,
                    "y": -3.594392694594717e-07,
                    "z": 0.00021806366567034274
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0017099797260016203,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 7.036157967377221e-06,
                    "y": -2.5154575268970802e-05,
                    "z": 0.001709780190140009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00033024189178831875,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 3.064930206164718e-05,
                    "y": -4.677831020671874e-05,
                    "z": 0.00032547215232625604
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00022683119459543377,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 5.087144472781802e-06,
                    "y": -4.275361425243318e-05,
                    "z": 0.0002227075310656801
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008774014422670007,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 6.154402854008367e-06,
                    "y": -6.371165000018664e-06,
                    "z": 0.0008773567387834191
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.345512808067724e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.0002673297713045031,
                        "pitch": 0.21765080094337463,
                        "yaw": 179.46424865722656
                    }
                },
                "velocity": {
                    "x": 1.090388741431525e-05,
                    "y": 8.399970283790026e-06,
                    "z": -9.243595559382811e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009784696158021688,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0024108877405524254,
                        "pitch": 0.2057935893535614,
                        "yaw": 179.51316833496094
                    }
                },
                "velocity": {
                    "x": 3.026127842531423e-06,
                    "y": 2.8200400265632197e-05,
                    "z": -0.0009780584368854761
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.02954692207276821,
        "expert_target_speed": 0.0,
        "target_point": [
            25.452777523905304,
            0.5188616859676077
        ],
        "target_point_next": [
            36.449649780521796,
            0.7803611205146812
        ]
    },
    "855": {
        "acceleration": [
            0.2196059376001358,
            -0.00229072873480618,
            -0.00733871478587389
        ],
        "angular_velocity": [
            0.019978905096650124,
            -0.04154027998447418,
            -0.0010532318847253919
        ],
        "forward_vector": [
            -0.9995532035827637,
            0.029684443026781082,
            0.003498665988445282
        ],
        "right_vector": [
            -0.02968427911400795,
            -0.9995593428611755,
            9.90689659374766e-05
        ],
        "location": [
            -160.87062072753906,
            4291.97998046875,
            373.0361328125
        ],
        "rotation": [
            -0.005676268599927425,
            0.20045921206474304,
            178.2989501953125
        ],
        "velocity": [
            -0.0020647651981562376,
            0.00012621779751498252,
            0.0015132140833884478
        ],
        "speed": 0.0020686194081867017,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.654205322265625,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.111526034947019e-05,
                5.467059963848442e-06,
                0.0011416610796004534
            ],
            "speed_kmh": 0.004110221797090223,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.86073637008667,
                "transform": {
                    "location": {
                        "x": -174.50851440429688,
                        "y": 4342.08447265625,
                        "z": 373.1207275390625
                    },
                    "rotation": {
                        "roll": 0.0007038963958621025,
                        "pitch": 0.03636392578482628,
                        "yaw": -89.61742401123047
                    }
                },
                "velocity": {
                    "x": 0.032818954437971115,
                    "y": -6.860657691955566,
                    "z": 0.001634302083402872
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001225650659762323,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.44677734375,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0003662089875433594,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": -0.00022289289336185902,
                    "y": 5.765682726632804e-05,
                    "z": 0.0012038330314680934
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012079101288691163,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -0.00018583265773486346,
                    "y": -4.878202162217349e-06,
                    "z": 0.0011935196816921234
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00045802938984707,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 0.000132328990730457,
                        "pitch": 0.19308944046497345,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 6.372686129907379e-06,
                    "y": -7.305145118152723e-06,
                    "z": 0.00045792679884471
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044903755187988,
                "transform": {
                    "location": {
                        "x": -174.55624389648438,
                        "y": 4279.13623046875,
                        "z": 373.0406494140625
                    },
                    "rotation": {
                        "roll": -0.00039673264836892486,
                        "pitch": -0.1516711711883545,
                        "yaw": -89.90428924560547
                    }
                },
                "velocity": {
                    "x": 0.014373378828167915,
                    "y": -8.044862747192383,
                    "z": -0.021155452355742455
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00038226397009566426,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.5147365047596395e-05,
                    "y": 1.9183207768946886e-05,
                    "z": 0.0003814817173406482
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002573134552221745,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -4.002377409051405e-06,
                    "y": -2.1162475604796782e-05,
                    "z": 0.00025641050888225436
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014044458512216806,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0018005426973104477,
                        "pitch": 0.16378793120384216,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -2.6631871605786728e-06,
                    "y": -1.0652542187017389e-05,
                    "z": 0.0014044030103832483
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.013729238882660866,
                "transform": {
                    "location": {
                        "x": -108.53460693359375,
                        "y": 4301.60791015625,
                        "z": 372.8419494628906
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -1.6139463186264038,
                        "yaw": -0.2822570502758026
                    }
                },
                "velocity": {
                    "x": -0.013510946184396744,
                    "y": -3.7084537325426936e-05,
                    "z": 0.002438228577375412
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00023448318825103343,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.7547941752127372e-05,
                    "y": -1.3700361705559772e-05,
                    "z": 0.00023342393978964537
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015888195484876633,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 7.756491686450318e-05,
                        "pitch": -0.2001655101776123,
                        "yaw": -0.09161376953125
                    }
                },
                "velocity": {
                    "x": 1.4431886484089773e-05,
                    "y": 1.9587334463722073e-05,
                    "z": 0.0015886332839727402
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002689151733648032,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004942767322063446,
                        "pitch": 0.21826551854610443,
                        "yaw": -179.1768341064453
                    }
                },
                "velocity": {
                    "x": 6.712861249980051e-06,
                    "y": 2.179674083890859e-05,
                    "z": 0.0002679462777450681
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.878364315023646e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 1.824781247705687e-05,
                    "y": -1.6824509657453746e-05,
                    "z": 8.524370059603825e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015004990855231881,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.22624316811561584,
                        "yaw": 179.83494567871094
                    }
                },
                "velocity": {
                    "x": 1.0230615771433804e-05,
                    "y": -1.1183376955159474e-05,
                    "z": 0.001500422484241426
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011417282512411475,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.111526034947019e-05,
                    "y": 5.467059963848442e-06,
                    "z": 0.0011416610796004534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.049186438554898e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.20993268489837646,
                        "yaw": -0.08172607421875
                    }
                },
                "velocity": {
                    "x": 2.8683169148280285e-05,
                    "y": 2.9089627787470818e-05,
                    "z": 2.967318141600117e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010798844741657376,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 2.2979502318776213e-06,
                    "y": -1.0887383723456878e-05,
                    "z": 0.0010798271978273988
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002832708996720612,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 3.559559627319686e-05,
                    "y": 7.85888551035896e-05,
                    "z": 0.0002698131720535457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00036386470310389996,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 1.6736574252718128e-05,
                    "y": -2.808992940117605e-05,
                    "z": 0.00036239257315173745
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00039282566285692155,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.1028610060748179e-05,
                    "y": -3.38162590196589e-06,
                    "z": 0.0003926562494598329
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4308763133594766e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00026183773297816515,
                        "pitch": 0.2176986038684845,
                        "yaw": 179.4643096923828
                    }
                },
                "velocity": {
                    "x": 8.30329918244388e-06,
                    "y": 3.65573964700161e-06,
                    "z": 3.308749001007527e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003052794490940869,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0028991694562137127,
                        "pitch": 0.20588921010494232,
                        "yaw": 179.51318359375
                    }
                },
                "velocity": {
                    "x": 4.895776328339707e-06,
                    "y": 1.9141896700602956e-05,
                    "z": -0.0003046393976546824
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.030726447701454163,
        "expert_target_speed": 0.0,
        "target_point": [
            25.45029398397842,
            0.5179135502677653
        ],
        "target_point_next": [
            36.44717521198447,
            0.779035437014048
        ]
    },
    "860": {
        "acceleration": [
            -0.20988130569458008,
            0.001660053269006312,
            0.0038738246075809
        ],
        "angular_velocity": [
            0.024949485436081886,
            0.04933837056159973,
            -0.03501804545521736
        ],
        "forward_vector": [
            -0.9995526075363159,
            0.029703745618462563,
            0.003501288592815399
        ],
        "right_vector": [
            -0.02970365807414055,
            -0.9995587468147278,
            7.723118324065581e-05
        ],
        "location": [
            -160.87210083007812,
            4291.97998046875,
            373.0361633300781
        ],
        "rotation": [
            -0.004425047896802425,
            0.2006094753742218,
            178.29783630371094
        ],
        "velocity": [
            -0.011665289290249348,
            3.5735192795982584e-05,
            0.0012620162451639771
        ],
        "speed": 0.011665344025326055,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.65272521972656,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.678957783558872e-06,
                5.221568244451191e-06,
                0.0003017387061845511
            ],
            "speed_kmh": 0.0010868711575776357,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.7325568199157715,
                "transform": {
                    "location": {
                        "x": -174.4996795654297,
                        "y": 4340.2451171875,
                        "z": 373.1210021972656
                    },
                    "rotation": {
                        "roll": 0.0007821459439583123,
                        "pitch": 0.025340000167489052,
                        "yaw": -89.73174285888672
                    }
                },
                "velocity": {
                    "x": 0.030629366636276245,
                    "y": -7.7324957847595215,
                    "z": 0.0018959330627694726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.44677734375,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0003662089875433594,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012479766737669706,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 9.053663961822167e-05,
                    "y": -2.6518544473219663e-05,
                    "z": 0.0012444057501852512
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012679198989644647,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 4.540772351901978e-06,
                    "y": -9.782276720216032e-06,
                    "z": 0.0012678740313276649
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.07888412475586,
                "transform": {
                    "location": {
                        "x": -174.5524139404297,
                        "y": 4277.12060546875,
                        "z": 373.0353088378906
                    },
                    "rotation": {
                        "roll": -0.0006408726912923157,
                        "pitch": -0.1520741581916809,
                        "yaw": -89.8960952758789
                    }
                },
                "velocity": {
                    "x": 0.015542708337306976,
                    "y": -8.078839302062988,
                    "z": -0.021661214530467987
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002918103418778628,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.056425207934808e-05,
                    "y": -2.0549085093080066e-05,
                    "z": 0.00029089415329508483
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00016683743160683662,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -1.6125513866427355e-05,
                    "y": -4.530928345047869e-05,
                    "z": 0.00015975532005541027
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006016955012455583,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.001281732926145196,
                        "pitch": 0.16378793120384216,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -3.7924794014543295e-05,
                    "y": 4.5234523895487655e-06,
                    "z": 0.0006004821043461561
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.007378408219665289,
                "transform": {
                    "location": {
                        "x": -108.52906036376953,
                        "y": 4301.60791015625,
                        "z": 372.83880615234375
                    },
                    "rotation": {
                        "roll": -0.0008850099402479827,
                        "pitch": -0.7572357058525085,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": -0.007161425892263651,
                    "y": 0.00011740870831999928,
                    "z": 0.0017723151249811053
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005508402246050537,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 3.924891188944457e-06,
                    "y": -5.763142780779162e-06,
                    "z": -0.0005507961031980813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008645555935800076,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 2.6330833861720748e-05,
                        "pitch": -0.200131356716156,
                        "yaw": -0.09161376953125
                    }
                },
                "velocity": {
                    "x": 1.0251700587105006e-05,
                    "y": 2.0812503862543963e-06,
                    "z": 0.0008644923218525946
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0012666357215493917,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004738145042210817,
                        "pitch": 0.22089514136314392,
                        "yaw": -179.1767578125
                    }
                },
                "velocity": {
                    "x": 1.0406970432086382e-05,
                    "y": -2.035209945461247e-06,
                    "z": 0.0012665913673117757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00024834676878526807,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 9.995923755923286e-05,
                    "y": 7.918421033537015e-06,
                    "z": 0.0002272037963848561
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013264283770695329,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.22624316811561584,
                        "yaw": 179.83494567871094
                    }
                },
                "velocity": {
                    "x": 1.5080794582900126e-05,
                    "y": -1.732113742036745e-05,
                    "z": 0.0013262295396998525
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000301908643450588,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.678957783558872e-06,
                    "y": 5.221568244451191e-06,
                    "z": 0.0003017387061845511
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.6170618841424584e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.2099941521883011,
                        "yaw": -0.0817260816693306
                    }
                },
                "velocity": {
                    "x": 3.6145745525573147e-06,
                    "y": 2.8822447347920388e-05,
                    "z": -2.155260881409049e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00024739099899306893,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": -1.4252878827392124e-05,
                    "y": -8.303075446747243e-06,
                    "z": 0.00024684047093614936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011934119975194335,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.4295093023974914e-05,
                    "y": 8.336162863997743e-06,
                    "z": 0.0011932972120121121
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007891563000157475,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.1636614544840995e-05,
                    "y": 1.2292573501326842e-06,
                    "z": 0.0007890695123933256
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4658947293355595e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00026183773297816515,
                        "pitch": 0.2176986038684845,
                        "yaw": 179.4643096923828
                    }
                },
                "velocity": {
                    "x": 6.33250920145656e-06,
                    "y": -7.470354830729775e-06,
                    "z": -1.0907698197115678e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003977179294452071,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": 0.20592336356639862,
                        "yaw": 179.51319885253906
                    }
                },
                "velocity": {
                    "x": 4.632770924217766e-06,
                    "y": 2.986367917401367e-06,
                    "z": -0.0003976797452196479
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.0316317155957222,
        "expert_target_speed": 0.0,
        "target_point": [
            25.448804651483922,
            0.518355011742044
        ],
        "target_point_next": [
            36.44568089698492,
            0.7796866473045705
        ]
    },
    "865": {
        "acceleration": [
            0.21413815021514893,
            -0.007035382557660341,
            -0.006776428781449795
        ],
        "angular_velocity": [
            0.016696996986865997,
            -0.03093179687857628,
            0.0003037824935745448
        ],
        "forward_vector": [
            -0.9995517134666443,
            0.029734250158071518,
            0.003502361476421356
        ],
        "right_vector": [
            -0.029734192416071892,
            -0.9995578527450562,
            6.870910874567926e-05
        ],
        "location": [
            -160.87335205078125,
            4291.97998046875,
            373.0361633300781
        ],
        "rotation": [
            -0.003936766181141138,
            0.20067094266414642,
            178.2960968017578
        ],
        "velocity": [
            -0.001906867721118033,
            0.00010639135143719614,
            0.0010039710905402899
        ],
        "speed": 0.001909833402551781,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.65147399902344,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.559518204885535e-05,
                5.807396064483328e-06,
                0.0013934517046436667
            ],
            "speed_kmh": 0.005016783857203317,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.724746227264404,
                "transform": {
                    "location": {
                        "x": -174.4922637939453,
                        "y": 4338.40478515625,
                        "z": 373.1214294433594
                    },
                    "rotation": {
                        "roll": 0.000657416123431176,
                        "pitch": -0.01434339676052332,
                        "yaw": -89.79070281982422
                    }
                },
                "velocity": {
                    "x": 0.019964076578617096,
                    "y": -6.724716663360596,
                    "z": 0.001544733066111803
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.44677734375,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0003662089875433594,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003774432116188109,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 4.212844942230731e-05,
                    "y": -2.5488481696811505e-05,
                    "z": 0.00037421772140078247
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000511280435603112,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -1.9770739527302794e-05,
                    "y": -7.1623921940044966e-06,
                    "z": 0.0005108478362672031
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044855117797852,
                "transform": {
                    "location": {
                        "x": -174.548583984375,
                        "y": 4275.10498046875,
                        "z": 373.02984619140625
                    },
                    "rotation": {
                        "roll": 9.364198194816709e-05,
                        "pitch": -0.15775004029273987,
                        "yaw": -89.88922119140625
                    }
                },
                "velocity": {
                    "x": 0.015838628634810448,
                    "y": -8.044811248779297,
                    "z": -0.021253852173686028
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0001237744145328179,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 2.4621784177725203e-05,
                    "y": 4.18543004343519e-06,
                    "z": 0.00012122852785978466
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00037249241722747684,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 2.1158233721507713e-05,
                    "y": 8.587058255216107e-05,
                    "z": -0.00036184137570671737
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015629271510988474,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0013122487580403686,
                        "pitch": 0.1637742668390274,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 3.1016617867862806e-05,
                    "y": -1.497482844570186e-05,
                    "z": 0.0015625476371496916
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002878258703276515,
                "transform": {
                    "location": {
                        "x": -108.52687072753906,
                        "y": 4301.60791015625,
                        "z": 372.8375549316406
                    },
                    "rotation": {
                        "roll": 0.0007789043011143804,
                        "pitch": -0.40491408109664917,
                        "yaw": -0.2819823920726776
                    }
                },
                "velocity": {
                    "x": -0.0025617496576160192,
                    "y": 0.00015753381012473255,
                    "z": 0.0013026874512434006
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005700564943253994,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.2349449207249563e-05,
                    "y": 1.64210196089698e-05,
                    "z": -0.000569686118979007
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013464856892824173,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 2.6330833861720748e-05,
                        "pitch": -0.200131356716156,
                        "yaw": -0.09161376953125
                    }
                },
                "velocity": {
                    "x": 1.4441571693168953e-05,
                    "y": -6.209722414496355e-06,
                    "z": 0.0013463938375934958
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008628537179902196,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004738145042210817,
                        "pitch": 0.22089514136314392,
                        "yaw": -179.1767578125
                    }
                },
                "velocity": {
                    "x": 9.567253073328175e-06,
                    "y": -2.5205712518072687e-05,
                    "z": 0.0008624324109405279
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007486663525924087,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -3.492133328109048e-05,
                    "y": 4.560947218124056e-06,
                    "z": 0.0007478375337086618
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0011405516415834427,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.22624316811561584,
                        "yaw": 179.83494567871094
                    }
                },
                "velocity": {
                    "x": 1.02693957160227e-05,
                    "y": 7.650691259186715e-06,
                    "z": 0.0011404796969145536
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001393551123328507,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.559518204885535e-05,
                    "y": 5.807396064483328e-06,
                    "z": 0.0013934517046436667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002614311233628541,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.2099941521883011,
                        "yaw": -0.0817260816693306
                    }
                },
                "velocity": {
                    "x": -2.2101028207544005e-06,
                    "y": -3.8924838008824736e-05,
                    "z": 0.0002585076435934752
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014312417479231954,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 3.665836857180693e-06,
                    "y": -1.669011908234097e-05,
                    "z": 0.001431139768101275
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006663991371169686,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.7310045222984627e-05,
                    "y": -6.084597998778918e-07,
                    "z": 0.0006661739898845553
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.596316623268649e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 2.0389481505844742e-05,
                    "y": -1.3231238881417084e-05,
                    "z": -5.0409122195560485e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000861943350173533,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.3238041901786346e-05,
                    "y": 7.66199536883505e-06,
                    "z": 0.0008618076099082828
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4750880836800206e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00026183773297816515,
                        "pitch": 0.2176986038684845,
                        "yaw": 179.4643096923828
                    }
                },
                "velocity": {
                    "x": 1.4307573110272642e-05,
                    "y": 2.421088311166386e-06,
                    "z": -2.649559746714658e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006612276774831116,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": 0.20592336356639862,
                        "yaw": 179.51319885253906
                    }
                },
                "velocity": {
                    "x": 5.759336090704892e-06,
                    "y": -1.0344550901209004e-05,
                    "z": -0.0006611216813325882
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.030087580904364586,
        "expert_target_speed": 0.0,
        "target_point": [
            25.447538153223018,
            0.5190944435493009
        ],
        "target_point_next": [
            36.44440641839459,
            0.7807616770200365
        ]
    },
    "870": {
        "acceleration": [
            -0.16492575407028198,
            -0.00310846627689898,
            0.0031194696202874184
        ],
        "angular_velocity": [
            0.00893078837543726,
            0.03386757895350456,
            0.030299097299575806
        ],
        "forward_vector": [
            -0.9995517730712891,
            0.029730914160609245,
            0.0035048648715019226
        ],
        "right_vector": [
            -0.02973082847893238,
            -0.9995579123497009,
            7.669857586733997e-05
        ],
        "location": [
            -160.87452697753906,
            4291.97998046875,
            373.0361633300781
        ],
        "rotation": [
            -0.004394531715661287,
            0.2008143812417984,
            178.29627990722656
        ],
        "velocity": [
            -0.008092991076409817,
            7.14985653758049e-05,
            0.001172075280919671
        ],
        "speed": 0.00809330690186031,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.650299072265625,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4816708244325127e-05,
                -1.7248887161258608e-05,
                0.0010323324240744114
            ],
            "speed_kmh": 0.0037172981739428935,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5294275283813477,
                "transform": {
                    "location": {
                        "x": -174.48898315429688,
                        "y": 4337.17919921875,
                        "z": 373.1218566894531
                    },
                    "rotation": {
                        "roll": 0.00017722159100230783,
                        "pitch": -0.08749471604824066,
                        "yaw": -89.83873748779297
                    }
                },
                "velocity": {
                    "x": 0.005750617478042841,
                    "y": -2.5294203758239746,
                    "z": -0.0019128703279420733
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.44677734375,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0003662089875433594,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009415634558536112,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -6.037045022821985e-05,
                    "y": 3.705047129187733e-05,
                    "z": 0.0009388953330926597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00018442285363562405,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 2.1425046270451276e-07,
                    "y": -7.415860636683647e-06,
                    "z": 0.00018427356553729624
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079545974731445,
                "transform": {
                    "location": {
                        "x": -174.544677734375,
                        "y": 4273.08935546875,
                        "z": 373.0242919921875
                    },
                    "rotation": {
                        "roll": -0.0002136309922207147,
                        "pitch": -0.15969663858413696,
                        "yaw": -89.88343048095703
                    }
                },
                "velocity": {
                    "x": 0.016383962705731392,
                    "y": -8.079499244689941,
                    "z": -0.022172173485159874
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003804352891165763,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 4.382804036140442e-06,
                    "y": 1.2948560652148444e-05,
                    "z": 0.00038018959457986057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.460214065853506e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -1.664117007749155e-05,
                    "y": -3.0275577955762856e-05,
                    "z": 1.941392156368238e-06
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008604726172052324,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0013122487580403686,
                        "pitch": 0.1637742668390274,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 5.006717401556671e-05,
                    "y": 3.7760473787784576e-06,
                    "z": 0.000859006482642144
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0015393259236589074,
                "transform": {
                    "location": {
                        "x": -108.5257797241211,
                        "y": 4301.60791015625,
                        "z": 372.8371276855469
                    },
                    "rotation": {
                        "roll": 0.0015785860596224666,
                        "pitch": -0.2872299253940582,
                        "yaw": -0.2819823920726776
                    }
                },
                "velocity": {
                    "x": -0.0008314475417137146,
                    "y": 4.952742983732605e-06,
                    "z": 0.0012954515404999256
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00025912700220942497,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 3.174096264046966e-06,
                    "y": -9.784492249309551e-06,
                    "z": 0.0002589227515272796
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011964632431045175,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 2.6330833861720748e-05,
                        "pitch": -0.200131356716156,
                        "yaw": -0.09161376953125
                    }
                },
                "velocity": {
                    "x": 1.2167841305199545e-05,
                    "y": -1.2346524272288661e-05,
                    "z": 0.001196337747387588
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.001905545243062079,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.004738145042210817,
                        "pitch": 0.22089514136314392,
                        "yaw": -179.1767578125
                    }
                },
                "velocity": {
                    "x": 1.8441936845192686e-05,
                    "y": 6.57758027955424e-06,
                    "z": 0.0019054446602240205
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00022258362150751054,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 1.3051540008746088e-05,
                    "y": -1.4606303921027575e-05,
                    "z": -0.00022172005265019834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008493898203596473,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.22624316811561584,
                        "yaw": 179.83494567871094
                    }
                },
                "velocity": {
                    "x": 1.7457119611208327e-05,
                    "y": 2.691436020541005e-05,
                    "z": 0.0008487838204018772
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010325828334316611,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4816708244325127e-05,
                    "y": -1.7248887161258608e-05,
                    "z": 0.0010323324240744114
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001815760915633291,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.2099941521883011,
                        "yaw": -0.0817260816693306
                    }
                },
                "velocity": {
                    "x": 1.6651340047246777e-05,
                    "y": 8.892547157302033e-06,
                    "z": -0.0001805921783670783
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006900641019456089,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": -1.3910824236518238e-05,
                    "y": -2.4808681700960733e-05,
                    "z": 0.0006894776597619057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00020167938782833517,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.0100826330017298e-05,
                    "y": 2.784086791507434e-05,
                    "z": -0.00019949294801335782
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002626140194479376,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 5.733184480050113e-06,
                    "y": -1.5890400391072035e-05,
                    "z": -0.00026207012706436217
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.250069418456405e-05,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.0267234756611288e-05,
                    "y": 1.5325727531489974e-07,
                    "z": 6.165141530800611e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005703828064724803,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.00010135205957340077,
                        "pitch": 0.21779422461986542,
                        "yaw": 179.4643096923828
                    }
                },
                "velocity": {
                    "x": 1.0903812835749704e-05,
                    "y": 1.3527595001505688e-05,
                    "z": 0.0005701180780306458
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00046604330418631434,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": 0.20592336356639862,
                        "yaw": 179.51319885253906
                    }
                },
                "velocity": {
                    "x": 2.545565394029836e-06,
                    "y": -1.329397491645068e-05,
                    "z": -0.0004658467078115791
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.03022889420390129,
        "expert_target_speed": 0.0,
        "target_point": [
            25.446365230900856,
            0.5189867056076888
        ],
        "target_point_next": [
            36.44323424466338,
            0.7806224767848773
        ]
    },
    "875": {
        "acceleration": [
            0.17116746306419373,
            -0.006458370480686426,
            0.0015489570796489716
        ],
        "angular_velocity": [
            -0.012677367776632309,
            -0.040229786187410355,
            -0.01704222522675991
        ],
        "forward_vector": [
            -0.9995510578155518,
            0.029757367447018623,
            0.0034940168261528015
        ],
        "right_vector": [
            -0.029757272452116013,
            -0.9995571374893188,
            7.882906356826425e-05
        ],
        "location": [
            -160.87484741210938,
            4291.97998046875,
            373.0361633300781
        ],
        "rotation": [
            -0.004516600165516138,
            0.20019283890724182,
            178.29476928710938
        ],
        "velocity": [
            0.004636523779481649,
            -0.0001526294945506379,
            0.0009764003334566951
        ],
        "speed": 0.004639035300609986,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.64997863769531,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.920745469571557e-06,
                -1.0753106835181825e-05,
                4.000529588665813e-05
            ],
            "speed_kmh": 0.0001533479233101271,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.33793941140174866,
                "transform": {
                    "location": {
                        "x": -174.48843383789062,
                        "y": 4337.025390625,
                        "z": 373.12164306640625
                    },
                    "rotation": {
                        "roll": -6.10348470218014e-05,
                        "pitch": -0.06521464139223099,
                        "yaw": -89.85501098632812
                    }
                },
                "velocity": {
                    "x": 0.0004970720619894564,
                    "y": -0.33793753385543823,
                    "z": -0.0010079764761030674
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.44677734375,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0003662089875433594,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004386425425764173,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -3.335708970553242e-05,
                    "y": 2.3929751478135586e-05,
                    "z": 0.000436717236880213
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009976986330002546,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -4.907363745587645e-06,
                    "y": -8.643604815006256e-06,
                    "z": 0.0009976491564884782
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044405937194824,
                "transform": {
                    "location": {
                        "x": -174.54086303710938,
                        "y": 4271.07373046875,
                        "z": 373.0186767578125
                    },
                    "rotation": {
                        "roll": -3.051585372304544e-05,
                        "pitch": -0.15979227423667908,
                        "yaw": -89.87857055664062
                    }
                },
                "velocity": {
                    "x": 0.01779480092227459,
                    "y": -8.044356346130371,
                    "z": -0.021755732595920563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000323121523251757,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 8.550248821848072e-06,
                    "y": -2.069852143904427e-06,
                    "z": 0.0003230017318855971
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004211739869788289,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 1.2280270311748609e-05,
                    "y": 1.734844408929348e-05,
                    "z": 0.00042063731234520674
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013871272094547749,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0016479498008266091,
                        "pitch": 0.16368547081947327,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 4.587749208440073e-05,
                    "y": -2.6258750949637033e-05,
                    "z": 0.0013861196348443627
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005247300723567605,
                "transform": {
                    "location": {
                        "x": -108.52546691894531,
                        "y": 4301.60791015625,
                        "z": 372.8370666503906
                    },
                    "rotation": {
                        "roll": 0.0011171078076586127,
                        "pitch": -0.2590280771255493,
                        "yaw": -0.2819823920726776
                    }
                },
                "velocity": {
                    "x": -0.00029826085665263236,
                    "y": -4.3581956560956314e-05,
                    "z": 0.00042951456271111965
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.362650987692177e-05,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 9.267851055483334e-06,
                    "y": 2.3588545445818454e-05,
                    "z": 7.969366561155766e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011712349951267242,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 2.6330833861720748e-05,
                        "pitch": -0.200131356716156,
                        "yaw": -0.09161376953125
                    }
                },
                "velocity": {
                    "x": 1.3283937732921913e-05,
                    "y": 8.888582669897005e-06,
                    "z": 0.0011711259139701724
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00022056845773477107,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 8.516870366293006e-06,
                    "y": 4.659882506530266e-06,
                    "z": 0.0002203547046519816
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003494247212074697,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 3.146508242934942e-05,
                    "y": -7.481351531168912e-06,
                    "z": -0.0003479247388895601
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015496144769713283,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.22624316811561584,
                        "yaw": 179.83494567871094
                    }
                },
                "velocity": {
                    "x": 1.952737511601299e-05,
                    "y": -2.7660564228426665e-05,
                    "z": 0.0015492445090785623
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.259664274286479e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.920745469571557e-06,
                    "y": -1.0753106835181825e-05,
                    "z": 4.000529588665813e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000291421398287639,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": -0.2099941521883011,
                        "yaw": -0.0817260816693306
                    }
                },
                "velocity": {
                    "x": 4.183426426607184e-06,
                    "y": 2.6338941097492352e-05,
                    "z": 0.00029019854264333844
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015546807553619146,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": -1.3141340787115041e-05,
                    "y": -1.6679503460181877e-05,
                    "z": 0.0015545357018709183
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005551875219680369,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.0626799848978408e-05,
                    "y": 2.740666241152212e-05,
                    "z": 0.0005544088198803365
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.310155681101605e-05,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 7.6039505074732006e-06,
                    "y": 1.8581557014840655e-05,
                    "z": -8.063978020800278e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005033291527070105,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 9.018368473334704e-06,
                    "y": -2.286878725499264e-06,
                    "z": 0.0005032431799918413
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.378607162740082e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.00010135205957340077,
                        "pitch": 0.21779422461986542,
                        "yaw": 179.4643096923828
                    }
                },
                "velocity": {
                    "x": 6.64770595903974e-06,
                    "y": 3.191137693647761e-06,
                    "z": 8.346095273736864e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008695388096384704,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0028076171875,
                        "pitch": 0.20569796860218048,
                        "yaw": 179.51321411132812
                    }
                },
                "velocity": {
                    "x": 4.043877197545953e-06,
                    "y": 2.205020973633509e-05,
                    "z": -0.000869249808602035
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.030537627637386322,
        "expert_target_speed": 0.0,
        "target_point": [
            25.446031318515598,
            0.5196445276205648
        ],
        "target_point_next": [
            36.442893466825105,
            0.781568703075074
        ]
    },
    "880": {
        "acceleration": [
            -0.25109320878982544,
            0.004014815203845501,
            0.0006887436029501259
        ],
        "angular_velocity": [
            0.016341691836714745,
            0.06304941326379776,
            -0.03086310811340809
        ],
        "forward_vector": [
            -0.9995507597923279,
            0.029766660183668137,
            0.0034984275698661804
        ],
        "right_vector": [
            -0.029766535386443138,
            -0.9995568990707397,
            8.788374543655664e-05
        ],
        "location": [
            -160.87429809570312,
            4291.97998046875,
            373.0361633300781
        ],
        "rotation": [
            -0.005035398527979851,
            0.20044554769992828,
            178.2942352294922
        ],
        "velocity": [
            -0.003400647547096014,
            -4.7915000322973356e-05,
            0.0001725673646433279
        ],
        "speed": 0.0034009850906503675,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.65052795410156,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3284682609082665e-05,
                -8.28670908958884e-06,
                0.0008260992472060025
            ],
            "speed_kmh": 0.0029744914080759304,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1533076763153076,
                "transform": {
                    "location": {
                        "x": -174.4879608154297,
                        "y": 4336.82763671875,
                        "z": 373.1210021972656
                    },
                    "rotation": {
                        "roll": 0.00023280817549675703,
                        "pitch": 0.00636573601514101,
                        "yaw": -89.9110107421875
                    }
                },
                "velocity": {
                    "x": 0.0008179892902262509,
                    "y": -1.1533063650131226,
                    "z": -0.001492834067903459
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.44677734375,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0003662089875433594,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014031947357580066,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -0.00010903237125603482,
                    "y": 3.6084138628211804e-06,
                    "z": 0.0013989476719871163
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007429558900184929,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 3.3751548471627757e-06,
                    "y": -9.528137525194325e-06,
                    "z": 0.0007428870885632932
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079689025878906,
                "transform": {
                    "location": {
                        "x": -174.5370330810547,
                        "y": 4269.05810546875,
                        "z": 373.01287841796875
                    },
                    "rotation": {
                        "roll": 0.0003544576175045222,
                        "pitch": -0.16818657517433167,
                        "yaw": -89.8697738647461
                    }
                },
                "velocity": {
                    "x": 0.01846727728843689,
                    "y": -8.079632759094238,
                    "z": -0.02397814765572548
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002825341944117099,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 8.480325050186366e-06,
                    "y": -8.604235517850611e-06,
                    "z": 0.000282275810604915
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00019145023543387651,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -1.3350769222597592e-05,
                    "y": 0.0001250179047929123,
                    "z": -0.00014437960635405034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013867387315258384,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0013122487580403686,
                        "pitch": 0.16385622322559357,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 1.3725350072490983e-05,
                    "y": -1.2232120752742048e-05,
                    "z": 0.0013866168446838856
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002802564122248441,
                "transform": {
                    "location": {
                        "x": -108.52530670166016,
                        "y": 4301.60791015625,
                        "z": 372.83697509765625
                    },
                    "rotation": {
                        "roll": 0.0011149551719427109,
                        "pitch": -0.24554528295993805,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": -9.931116801453754e-05,
                    "y": 9.143235729425214e-06,
                    "z": -0.0002619109582155943
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00021501496667042375,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.0409876267658547e-05,
                    "y": -1.241606423718622e-05,
                    "z": 0.00021440362615976483
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014818988274782896,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": -9.155269799521193e-05,
                        "pitch": -0.20019283890724182,
                        "yaw": -0.0916748046875
                    }
                },
                "velocity": {
                    "x": 1.5263296518241987e-05,
                    "y": 1.6914924344746396e-05,
                    "z": 0.00148172362241894
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6329820432001725e-05,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 6.447397026931867e-06,
                    "y": 1.3780938388663344e-05,
                    "z": 3.299049421912059e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.8221409088000655e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -3.856749754049815e-05,
                    "y": 6.855409537820378e-06,
                    "z": -2.812216007441748e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001486839260905981,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8809814453125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.22624316811561584,
                        "yaw": 179.83494567871094
                    }
                },
                "velocity": {
                    "x": 1.0740719517343678e-05,
                    "y": -1.9562912711990066e-05,
                    "z": 0.001486671739257872
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008262476185336709,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3284682609082665e-05,
                    "y": -8.28670908958884e-06,
                    "z": 0.0008260992472060025
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.1287388739874586e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": -0.21038347482681274,
                        "yaw": -0.0817871168255806
                    }
                },
                "velocity": {
                    "x": -1.0658092833182309e-05,
                    "y": -2.775054599624127e-05,
                    "z": 2.8652410037466325e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011321393540129066,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 1.7499121895525604e-05,
                    "y": -7.910355634521693e-06,
                    "z": 0.0011319764889776707
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004245391464792192,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.014240024233004e-05,
                    "y": -1.1285044820397161e-05,
                    "z": 0.0004242679278831929
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00023459538351744413,
                "transform": {
                    "location": {
                        "x": -160.14633178710938,
                        "y": 4295.2138671875,
                        "z": 373.0270690917969
                    },
                    "rotation": {
                        "roll": 0.0011201839661225677,
                        "pitch": 0.1986355483531952,
                        "yaw": 179.71429443359375
                    }
                },
                "velocity": {
                    "x": 5.535110631171847e-06,
                    "y": -1.8078944776789285e-05,
                    "z": 0.00023383222287520766
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006227394915185869,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.1038481716241222e-05,
                    "y": 3.3794319733715383e-06,
                    "z": 0.000622632447630167
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0006398084806278348,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.000503276998642832,
                        "pitch": 0.21758931875228882,
                        "yaw": 179.46434020996094
                    }
                },
                "velocity": {
                    "x": 8.497051567246672e-06,
                    "y": -4.002479909104295e-05,
                    "z": 0.0006384988082572818
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00023976739612407982,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0025329585187137127,
                        "pitch": 0.20590969920158386,
                        "yaw": 179.51321411132812
                    }
                },
                "velocity": {
                    "x": 5.232803232502192e-06,
                    "y": 2.2175072444952093e-05,
                    "z": -0.0002386824053246528
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02802104689180851,
        "expert_target_speed": 10.0,
        "target_point": [
            25.44657568253457,
            0.5198914174460072
        ],
        "target_point_next": [
            36.44343545738434,
            0.7819152234271884
        ]
    },
    "885": {
        "acceleration": [
            0.1852300763130188,
            -0.004397966433316469,
            -0.0009637832408770919
        ],
        "angular_velocity": [
            -0.009108136408030987,
            -0.03459206596016884,
            0.00020291343389544636
        ],
        "forward_vector": [
            -0.9995513558387756,
            0.029746882617473602,
            0.003492348361760378
        ],
        "right_vector": [
            -0.029746798798441887,
            -0.9995574355125427,
            7.563328836113214e-05
        ],
        "location": [
            -160.87335205078125,
            4291.97998046875,
            373.0361633300781
        ],
        "rotation": [
            -0.004333494696766138,
            0.2000972181558609,
            178.2953643798828
        ],
        "velocity": [
            0.008268504403531551,
            -0.0001709765929263085,
            -8.248328958870843e-05
        ],
        "speed": 0.008270271946347916,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.65147399902344,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.383430213143583e-06,
                1.233227794728009e-05,
                0.00041173785575665534
            ],
            "speed_kmh": 0.001483228086919191,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9098706245422363,
                "transform": {
                    "location": {
                        "x": -174.48773193359375,
                        "y": 4336.43896484375,
                        "z": 373.1209411621094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.013571585528552532,
                        "yaw": -89.937744140625
                    }
                },
                "velocity": {
                    "x": 0.002754068002104759,
                    "y": -1.909867763519287,
                    "z": -0.0018044471507892013
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.44677734375,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0003662089875433594,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006990396650508046,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -0.00012666717520914972,
                    "y": 5.288813099468825e-06,
                    "z": 0.0006874473765492439
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001256039715372026,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 6.3368520386575256e-06,
                    "y": -9.223632332577836e-06,
                    "z": 0.001255989889614284
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044861793518066,
                "transform": {
                    "location": {
                        "x": -174.53265380859375,
                        "y": 4267.04248046875,
                        "z": 373.0068359375
                    },
                    "rotation": {
                        "roll": 0.0005462176050059497,
                        "pitch": -0.1772775501012802,
                        "yaw": -89.86275482177734
                    }
                },
                "velocity": {
                    "x": 0.01935083232820034,
                    "y": -8.044797897338867,
                    "z": -0.025434430688619614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00025282916612923145,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.490507202106528e-05,
                    "y": 1.089163197320886e-05,
                    "z": 0.0002521543065086007
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00026560286642052233,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -5.039498319092672e-06,
                    "y": -7.55489818402566e-05,
                    "z": -0.00025458168238401413
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004395393480081111,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0014648414216935635,
                        "pitch": 0.16392453014850616,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 3.329902756377123e-05,
                    "y": -6.18189551460091e-06,
                    "z": 0.0004382325860206038
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.348494546022266e-05,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.83697509765625
                    },
                    "rotation": {
                        "roll": 0.0003485735796857625,
                        "pitch": -0.23739686608314514,
                        "yaw": -0.2820129096508026
                    }
                },
                "velocity": {
                    "x": -4.873249417869374e-05,
                    "y": -4.946925400872715e-05,
                    "z": -2.404108818154782e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.779994484735653e-05,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.3506002687790897e-05,
                    "y": 2.0854509784840047e-05,
                    "z": 7.372590334853157e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006914453115314245,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 5.065925870439969e-05,
                        "pitch": -0.20022697746753693,
                        "yaw": -0.0916748046875
                    }
                },
                "velocity": {
                    "x": -2.862215069399099e-06,
                    "y": -2.317038524779491e-05,
                    "z": 0.0006910510128363967
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00014020198432262987,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 7.1045756158127915e-06,
                    "y": 8.549423910153564e-06,
                    "z": 0.00013976061018183827
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.116958396276459e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 1.4584671589545906e-05,
                    "y": -1.3181193935452029e-05,
                    "z": 2.4188560928450897e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001974076498299837,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": 2.520158886909485e-05,
                    "y": 1.1590454818133367e-07,
                    "z": 0.0019739156123250723
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000412007822887972,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.383430213143583e-06,
                    "y": 1.233227794728009e-05,
                    "z": 0.00041173785575665534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00045242987107485533,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0817871168255806
                    }
                },
                "velocity": {
                    "x": -1.0006055163103156e-05,
                    "y": -6.520484930661041e-06,
                    "z": 0.0004522722156252712
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006679948419332504,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": 1.2099078503524652e-06,
                    "y": -3.851018846035004e-06,
                    "z": 0.0006679826765321195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001062306109815836,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": -1.0181367542827502e-05,
                    "y": 6.131848931545392e-05,
                    "z": 0.0010604860726743937
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.2821313440799713,
                "transform": {
                    "location": {
                        "x": -160.16421508789062,
                        "y": 4295.2138671875,
                        "z": 373.0270080566406
                    },
                    "rotation": {
                        "roll": 3.1457162549486384e-05,
                        "pitch": 0.21062253415584564,
                        "yaw": 179.7233428955078
                    }
                },
                "velocity": {
                    "x": -0.2821260690689087,
                    "y": 0.0008780719945207238,
                    "z": 0.0014842032687738538
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011918852105736732,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.4836452464805916e-05,
                    "y": 3.7335546494432492e-06,
                    "z": 0.0011917869560420513
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.006872015655972e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.000503276998642832,
                        "pitch": 0.21758931875228882,
                        "yaw": 179.46434020996094
                    }
                },
                "velocity": {
                    "x": 4.84574593428988e-06,
                    "y": -5.976322881906526e-06,
                    "z": -4.9474023398943245e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.533989941701293e-05,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0025329585187137127,
                        "pitch": 0.20590969920158386,
                        "yaw": 179.51321411132812
                    }
                },
                "velocity": {
                    "x": 8.420608537562657e-06,
                    "y": -1.0387849215476308e-05,
                    "z": 9.439747373107821e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.028725063428282738,
        "expert_target_speed": 10.0,
        "target_point": [
            25.447531467978962,
            0.5194220704642292
        ],
        "target_point_next": [
            36.44439636337732,
            0.7812308842294172
        ]
    },
    "890": {
        "acceleration": [
            -0.23621341586112976,
            0.00862855277955532,
            -0.00580863980576396
        ],
        "angular_velocity": [
            -0.015762120485305786,
            0.03932332620024681,
            -0.000638030469417572
        ],
        "forward_vector": [
            -0.9995504021644592,
            0.02977428212761879,
            0.0035382434725761414
        ],
        "right_vector": [
            -0.029774196445941925,
            -0.9995566606521606,
            7.669856131542474e-05
        ],
        "location": [
            -160.87374877929688,
            4291.97998046875,
            373.0361633300781
        ],
        "rotation": [
            -0.00439453125,
            0.2027268409729004,
            178.29379272460938
        ],
        "velocity": [
            -0.011527352035045624,
            0.0003752727643586695,
            -0.000256605155300349
        ],
        "speed": 0.01153345891688785,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.65107727050781,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1752061254810542e-05,
                5.511105882760603e-06,
                0.0012966234935447574
            ],
            "speed_kmh": 0.004668078462866946,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.917384386062622,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4335.9169921875,
                        "z": 373.1209716796875
                    },
                    "rotation": {
                        "roll": -6.1035014368826523e-05,
                        "pitch": -0.0048835850320756435,
                        "yaw": -89.93685913085938
                    }
                },
                "velocity": {
                    "x": 0.0016041041817516088,
                    "y": -1.9173829555511475,
                    "z": -0.0016017818124964833
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.44677734375,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0003662089875433594,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00016987307753879577,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -3.3900187190738507e-06,
                    "y": -1.2285737284400966e-05,
                    "z": 0.00016939430497586727
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00045855672215111554,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 2.8040587949362816e-06,
                    "y": -8.311867532029282e-06,
                    "z": 0.0004584728158079088
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.079926490783691,
                "transform": {
                    "location": {
                        "x": -174.52796936035156,
                        "y": 4265.02685546875,
                        "z": 373.0006103515625
                    },
                    "rotation": {
                        "roll": 0.0005885262507945299,
                        "pitch": -0.17608226835727692,
                        "yaw": -89.85723876953125
                    }
                },
                "velocity": {
                    "x": 0.021521052345633507,
                    "y": -8.079859733581543,
                    "z": -0.024892568588256836
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5911416742019355e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 2.1706894131057197e-06,
                    "y": 4.258030003256863e-06,
                    "z": 2.5466817533015274e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003153774596285075,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -5.355179382604547e-06,
                    "y": 1.3612951079267077e-05,
                    "z": 0.0003150380216538906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013935324968770146,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0018615743611007929,
                        "pitch": 0.16395185887813568,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -9.553941708873026e-06,
                    "y": 8.651055054542667e-07,
                    "z": 0.0013934994349256158
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00027302466332912445,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": -8.907913979783189e-06,
                    "y": 3.4550437703728676e-05,
                    "z": -0.00027068317285738885
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1872561774216592e-05,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 6.712376944051357e-06,
                    "y": -7.496333864764892e-07,
                    "z": 2.0803629013244063e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001257660216651857,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.20022697746753693,
                        "yaw": -0.0916748046875
                    }
                },
                "velocity": {
                    "x": 2.1052733245596755e-06,
                    "y": -4.837342567043379e-05,
                    "z": 0.001256727846339345
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00040790645289234817,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 8.159987373801414e-06,
                    "y": -2.0340185074019246e-05,
                    "z": 0.00040731727494858205
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.051268064766191e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 4.777452704729512e-05,
                    "y": -1.7950460460269824e-05,
                    "z": 3.2513999030925333e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002483222633600235,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": 9.679421282271505e-07,
                    "y": 3.1047715310705826e-05,
                    "z": 0.00024637175374664366
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012966884532943368,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1752061254810542e-05,
                    "y": 5.511105882760603e-06,
                    "z": 0.0012966234935447574
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005426385323517025,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0817871168255806
                    }
                },
                "velocity": {
                    "x": 1.4271624422690365e-05,
                    "y": -2.9475217161234468e-05,
                    "z": 0.0005416494095697999
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001579001545906067,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.96136474609375
                    },
                    "rotation": {
                        "roll": 0.0013245719019323587,
                        "pitch": 0.20952287316322327,
                        "yaw": 90.57379913330078
                    }
                },
                "velocity": {
                    "x": -5.22193704455276e-06,
                    "y": -1.706700822978746e-05,
                    "z": 0.0015789007302373648
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004874597361776978,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": -4.5020915422355756e-05,
                    "y": 1.3768253666057717e-05,
                    "z": 0.000485180935356766
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0525404214859009,
                "transform": {
                    "location": {
                        "x": -160.3488311767578,
                        "y": 4295.21533203125,
                        "z": 373.0276184082031
                    },
                    "rotation": {
                        "roll": 0.0010232263011857867,
                        "pitch": 0.24272441864013672,
                        "yaw": 179.7554168701172
                    }
                },
                "velocity": {
                    "x": -1.0524468421936035,
                    "y": 0.011510380543768406,
                    "z": 0.008036012761294842
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004892602446489036,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 8.805356628727168e-06,
                    "y": -7.877859388827346e-06,
                    "z": 0.0004891175194643438
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.230454346223269e-06,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.000503276998642832,
                        "pitch": 0.21758931875228882,
                        "yaw": 179.46434020996094
                    }
                },
                "velocity": {
                    "x": 5.992315436742501e-06,
                    "y": -9.438871302336338e-07,
                    "z": 1.4211954066922772e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005505185690708458,
                "transform": {
                    "location": {
                        "x": -150.93850708007812,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.0025329585187137127,
                        "pitch": 0.20590969920158386,
                        "yaw": 179.51321411132812
                    }
                },
                "velocity": {
                    "x": 1.3510509688785532e-06,
                    "y": 6.6480015448178165e-06,
                    "z": -0.00055047677597031
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.030670471489429474,
        "expert_target_speed": 10.0,
        "target_point": [
            25.447120788206348,
            0.5201019147801245
        ],
        "target_point_next": [
            36.44397856365308,
            0.782209620135506
        ]
    },
    "895": {
        "acceleration": [
            -3.295896291732788,
            0.029726475477218628,
            0.028172113001346588
        ],
        "angular_velocity": [
            -0.05735974386334419,
            0.7368618845939636,
            0.11080033332109451
        ],
        "forward_vector": [
            -0.9995592832565308,
            0.029321355745196342,
            0.004632217343896627
        ],
        "right_vector": [
            -0.029321128502488136,
            -0.9995700120925903,
            0.00011717779125319794
        ],
        "location": [
            -160.892333984375,
            4291.97998046875,
            373.0359191894531
        ],
        "rotation": [
            -0.0067138648591935635,
            0.2654074728488922,
            178.3197479248047
        ],
        "velocity": [
            -0.2892468273639679,
            0.00623649125918746,
            0.001938829431310296
        ],
        "speed": 0.2893140524816362,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.63249588012695,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                8.479468306177296e-06,
                -1.1369242201908492e-05,
                0.0010078120976686478
            ],
            "speed_kmh": 0.0036284828169563274,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4802881479263306,
                "transform": {
                    "location": {
                        "x": -174.48773193359375,
                        "y": 4335.45166015625,
                        "z": 373.1210021972656
                    },
                    "rotation": {
                        "roll": 1.866962884378154e-05,
                        "pitch": -0.01525864191353321,
                        "yaw": -89.93951416015625
                    }
                },
                "velocity": {
                    "x": 0.0013564894907176495,
                    "y": -1.4802868366241455,
                    "z": -0.0014181708684191108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -174.48866271972656,
                        "y": 4325.44677734375,
                        "z": 373.1113586425781
                    },
                    "rotation": {
                        "roll": -0.0003662089875433594,
                        "pitch": -0.05093954876065254,
                        "yaw": -90.00991821289062
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0009122943738475442,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -1.3891929484088905e-05,
                    "y": -2.7811014660983346e-05,
                    "z": 0.0009117645095102489
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00013888522516936064,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": 2.4819604732329026e-05,
                        "pitch": 0.19326019287109375,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -1.014334088722535e-06,
                    "y": -6.449893135140883e-06,
                    "z": 0.0001387316733598709
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045498847961426,
                "transform": {
                    "location": {
                        "x": -174.52218627929688,
                        "y": 4263.01123046875,
                        "z": 372.9942626953125
                    },
                    "rotation": {
                        "roll": -0.0003051722305826843,
                        "pitch": -0.18182645738124847,
                        "yaw": -89.85211181640625
                    }
                },
                "velocity": {
                    "x": 0.020698219537734985,
                    "y": -8.045432090759277,
                    "z": -0.025294842198491096
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004046957765240222,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": -3.045759967790218e-06,
                    "y": -2.848800477295299e-06,
                    "z": 0.00040467429789714515
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000283034605672583,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -3.484740955173038e-05,
                    "y": -7.15049245627597e-05,
                    "z": 0.00027162712649442255
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014816023176535964,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0018005426973104477,
                        "pitch": 0.16373328864574432,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -2.3103262719814666e-05,
                    "y": -1.218512625200674e-05,
                    "z": 0.0014813720481470227
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00018377468222752213,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 1.1751986676244996e-05,
                    "y": -9.568162568029948e-06,
                    "z": 0.00018314877524971962
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005087666213512421,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.6763247913331725e-05,
                    "y": -1.5270708900061436e-05,
                    "z": -0.0005082610296085477
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001137796207331121,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0003772196650970727,
                        "pitch": -0.20044554769992828,
                        "yaw": -0.091705322265625
                    }
                },
                "velocity": {
                    "x": 8.203796824091114e-06,
                    "y": 8.692620212968905e-06,
                    "z": 0.0011377333430573344
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002965475432574749,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 6.529241545649711e-06,
                    "y": -3.390408664927236e-06,
                    "z": 0.0002964562736451626
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00011754925799323246,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 3.1803810998098925e-05,
                    "y": -8.11897189123556e-06,
                    "z": -0.00011287350207567215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00037134470767341554,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": 5.431063527794322e-06,
                    "y": 2.1347703295759857e-05,
                    "z": -0.00037069080281071365
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010079118655994534,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.479468306177296e-06,
                    "y": -1.1369242201908492e-05,
                    "z": 0.0010078120976686478
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000274529738817364,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0817871168255806
                    }
                },
                "velocity": {
                    "x": -4.033111054013716e-06,
                    "y": -4.0359846025239676e-05,
                    "z": 0.00027151682297699153
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020671237143687904,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": 9.28992812987417e-06,
                    "y": -8.016228093765676e-06,
                    "z": 0.00020634786051232368
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00024545425549149513,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 7.66210268920986e-06,
                    "y": 7.977223503985442e-06,
                    "z": -0.0002452049229759723
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1075818538665771,
                "transform": {
                    "location": {
                        "x": -160.62820434570312,
                        "y": 4295.21728515625,
                        "z": 373.0289611816406
                    },
                    "rotation": {
                        "roll": 0.0002741026401054114,
                        "pitch": 0.21182464063167572,
                        "yaw": 179.73731994628906
                    }
                },
                "velocity": {
                    "x": -1.1075526475906372,
                    "y": 0.00756752397865057,
                    "z": 0.002720355987548828
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00023946152941789478,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 3.3580511171749095e-06,
                    "y": 9.9207034054416e-07,
                    "z": -0.00023943593259900808
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0002509112819097936,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.0003289259329903871,
                        "pitch": 0.21756882965564728,
                        "yaw": 179.46437072753906
                    }
                },
                "velocity": {
                    "x": 6.734654107276583e-06,
                    "y": 1.5603773135808297e-05,
                    "z": 0.00025033505517058074
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.075826341751963e-05,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002716064453125,
                        "pitch": 0.2057935893535614,
                        "yaw": 179.51327514648438
                    }
                },
                "velocity": {
                    "x": 5.9607250477711204e-06,
                    "y": 1.62015621754108e-05,
                    "z": -1.1527558854140807e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03335825353860855,
        "expert_target_speed": 10.0,
        "target_point": [
            25.428776566819437,
            0.5080294938669144
        ],
        "target_point_next": [
            36.42575194751714,
            0.7651556476095291
        ]
    },
    "900": {
        "acceleration": [
            -2.878488302230835,
            0.09607646614313126,
            0.005879402160644531
        ],
        "angular_velocity": [
            0.05129437521100044,
            0.5736991167068481,
            0.4501822292804718
        ],
        "forward_vector": [
            -0.9995488524436951,
            0.029092077165842056,
            0.007460405118763447
        ],
        "right_vector": [
            -0.02909202128648758,
            -0.9995766878128052,
            0.00011611056834226474
        ],
        "location": [
            -161.05772399902344,
            4291.98486328125,
            373.0360412597656
        ],
        "rotation": [
            -0.006652830634266138,
            0.4274536967277527,
            178.33287048339844
        ],
        "velocity": [
            -1.016997218132019,
            0.028131399303674698,
            0.0023852346930652857
        ],
        "speed": 1.0173862183630404,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.46707534790039,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.057192639564164e-05,
                9.886306543194223e-06,
                0.00024740188382565975
            ],
            "speed_kmh": 0.0008921697543608218,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0017092371126636863,
                "transform": {
                    "location": {
                        "x": -174.48741149902344,
                        "y": 4335.4169921875,
                        "z": 373.12115478515625
                    },
                    "rotation": {
                        "roll": -0.0006713863112963736,
                        "pitch": -0.03607022762298584,
                        "yaw": -89.98187255859375
                    }
                },
                "velocity": {
                    "x": -8.315783634316176e-05,
                    "y": 3.579841722967103e-05,
                    "z": -0.0017068375600501895
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.23830994963645935,
                "transform": {
                    "location": {
                        "x": -174.48873901367188,
                        "y": 4325.4306640625,
                        "z": 373.1110534667969
                    },
                    "rotation": {
                        "roll": -0.0007324228063225746,
                        "pitch": -0.03052411414682865,
                        "yaw": -90.00079345703125
                    }
                },
                "velocity": {
                    "x": 0.00345843774266541,
                    "y": -0.23828016221523285,
                    "z": 0.0014951229095458984
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0002979826822411269,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 0.00011853536125272512,
                    "y": -2.3841825168346986e-05,
                    "z": 0.00027235018205828965
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009608165128156543,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": 2.4819604732329026e-05,
                        "pitch": 0.19326019287109375,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -3.3403162547074317e-07,
                    "y": -1.083064762497088e-05,
                    "z": 0.0009607553947716951
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08021354675293,
                "transform": {
                    "location": {
                        "x": -174.51625061035156,
                        "y": 4260.99560546875,
                        "z": 372.98779296875
                    },
                    "rotation": {
                        "roll": -0.0006713834009133279,
                        "pitch": -0.19394321739673615,
                        "yaw": -89.85454559326172
                    }
                },
                "velocity": {
                    "x": 0.02026217430830002,
                    "y": -8.080143928527832,
                    "z": -0.026579545810818672
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00018387619638815522,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.902997428260278e-05,
                    "y": -8.93395372258965e-06,
                    "z": 0.00018267046834807843
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.7057783376658335e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 8.897632142179646e-06,
                    "y": -3.232988547097193e-06,
                    "z": 4.609571260516532e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009794192155823112,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0011596559779718518,
                        "pitch": 0.1635352075099945,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 2.735216185101308e-05,
                    "y": -1.2750718269671779e-05,
                    "z": 0.0009789541363716125
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00021802617993671447,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 8.377916856261436e-06,
                    "y": 2.3526157747255638e-05,
                    "z": 0.00021659120102413
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00010591340833343565,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.3852566553396173e-05,
                    "y": 3.120950395896216e-06,
                    "z": 0.00010495720925973728
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001043033436872065,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.0003772196650970727,
                        "pitch": -0.20044554769992828,
                        "yaw": -0.091705322265625
                    }
                },
                "velocity": {
                    "x": 3.2197310702031245e-06,
                    "y": -1.3540494364860933e-05,
                    "z": 0.0010429405374452472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003974486899096519,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 1.1972077118116431e-05,
                    "y": -3.308518671474303e-06,
                    "z": 0.00039725456736050546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.150987999513745e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -8.468351552437525e-06,
                    "y": -3.822371127171209e-06,
                    "z": 5.066502126283012e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00027993228286504745,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": 5.217231773713138e-06,
                    "y": 1.3283204680192284e-05,
                    "z": -0.0002795682812575251
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00024782493710517883,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.057192639564164e-05,
                    "y": 9.886306543194223e-06,
                    "z": 0.00024740188382565975
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0006075768615119159,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0817871168255806
                    }
                },
                "velocity": {
                    "x": 1.3605988897325005e-05,
                    "y": -1.0388509508629795e-05,
                    "z": 0.0006073356489650905
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002774423628579825,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -2.573037454567384e-05,
                    "y": -1.550670640426688e-05,
                    "z": 0.0002758110931608826
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00046910755918361247,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 5.727037660108181e-06,
                    "y": 2.396303716523107e-05,
                    "z": 0.00046846011537127197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6550018787384033,
                "transform": {
                    "location": {
                        "x": -161.103515625,
                        "y": 4295.2265625,
                        "z": 373.030029296875
                    },
                    "rotation": {
                        "roll": 0.019649120047688484,
                        "pitch": 0.2725450098514557,
                        "yaw": 179.41830444335938
                    }
                },
                "velocity": {
                    "x": -2.6510210037231445,
                    "y": 0.14508791267871857,
                    "z": 0.008526944555342197
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012232147855684161,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.6253925423370674e-05,
                    "y": 9.603559192328248e-06,
                    "z": 0.0012230691500008106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 9.58246091613546e-05,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9608154296875
                    },
                    "rotation": {
                        "roll": 0.0003289259329903871,
                        "pitch": 0.21756882965564728,
                        "yaw": 179.46437072753906
                    }
                },
                "velocity": {
                    "x": 3.929324520868249e-06,
                    "y": -6.3337884057546034e-06,
                    "z": -9.553428390063345e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0008494040812365711,
                "transform": {
                    "location": {
                        "x": -150.9384307861328,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.002716064453125,
                        "pitch": 0.2057935893535614,
                        "yaw": 179.51327514648438
                    }
                },
                "velocity": {
                    "x": 4.628039732779143e-06,
                    "y": -1.1737925888155587e-05,
                    "z": -0.0008493103669025004
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.02652933821082115,
        "expert_target_speed": 10.0,
        "target_point": [
            25.26343011728755,
            0.5022784345721876
        ],
        "target_point_next": [
            36.260464061442185,
            0.7568875736868645
        ]
    },
    "905": {
        "acceleration": [
            -2.1903038024902344,
            0.050635337829589844,
            0.016440395265817642
        ],
        "angular_velocity": [
            -0.052141979336738586,
            -0.03682854399085045,
            0.1773802787065506
        ],
        "forward_vector": [
            -0.9995650053024292,
            0.02813182957470417,
            0.00885248463600874
        ],
        "right_vector": [
            -0.028131427243351936,
            -0.9996042251586914,
            0.00016990302538033575
        ],
        "location": [
            -161.4089813232422,
            4291.994140625,
            373.0368347167969
        ],
        "rotation": [
            -0.009735107421875,
            0.5072166323661804,
            178.3878936767578
        ],
        "velocity": [
            -1.7373403310775757,
            0.04427386820316315,
            0.005871162284165621
        ],
        "speed": 1.7379043706126098,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 60.11575698852539,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.928755389410071e-06,
                3.926710178348003e-06,
                0.0012467163614928722
            ],
            "speed_kmh": 0.004488343489623496,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002347691188333556,
                "transform": {
                    "location": {
                        "x": -174.48741149902344,
                        "y": 4335.4169921875,
                        "z": 373.1209716796875
                    },
                    "rotation": {
                        "roll": 1.125080234487541e-05,
                        "pitch": -0.014835170470178127,
                        "yaw": -89.98188018798828
                    }
                },
                "velocity": {
                    "x": 2.962392863992136e-05,
                    "y": 5.262471859168727e-06,
                    "z": 0.00023283313203137368
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2309880256652832,
                "transform": {
                    "location": {
                        "x": -174.48898315429688,
                        "y": 4325.22607421875,
                        "z": 373.1111145019531
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.009582755155861378,
                        "yaw": -89.97050476074219
                    }
                },
                "velocity": {
                    "x": 1.4450143680733163e-05,
                    "y": -1.2309858798980713,
                    "z": 0.0022993087768554688
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008175174007192254,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 0.00015172337589319795,
                    "y": -6.825345917604864e-05,
                    "z": 0.0008004099945537746
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00032881085644476116,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 0.0004897820181213319,
                        "pitch": 0.1931031048297882,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 1.1384034223738126e-05,
                    "y": -7.605589871673146e-06,
                    "z": 0.0003285256971139461
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045373916625977,
                "transform": {
                    "location": {
                        "x": -174.51202392578125,
                        "y": 4258.97998046875,
                        "z": 372.98095703125
                    },
                    "rotation": {
                        "roll": 2.95820900646504e-05,
                        "pitch": -0.19366317987442017,
                        "yaw": -89.86517333984375
                    }
                },
                "velocity": {
                    "x": 0.01791887730360031,
                    "y": -8.045310020446777,
                    "z": -0.026651276275515556
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005415520863607526,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.6059651898103766e-05,
                    "y": -2.4931163352448493e-05,
                    "z": 0.0005407394492067397
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.9016933189705014e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -1.5013031770649832e-05,
                    "y": 2.8977270631003194e-05,
                    "z": 3.657303022919223e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015634170267730951,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0023193389642983675,
                        "pitch": 0.1644572913646698,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 3.098425622738432e-06,
                    "y": -1.1409204489609692e-05,
                    "z": 0.0015633723232895136
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.56716913706623e-05,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 6.856582785985665e-06,
                    "y": -9.42613769439049e-06,
                    "z": 5.443778354674578e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004546144336927682,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.3116374248056673e-05,
                    "y": -3.1500878776569152e-06,
                    "z": 0.0004544142575468868
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009889305802062154,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 1.8732314856606536e-05,
                        "pitch": -0.20028845965862274,
                        "yaw": -0.091705322265625
                    }
                },
                "velocity": {
                    "x": 5.8299674492445774e-06,
                    "y": -3.193321026628837e-05,
                    "z": 0.0009883976308628917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.821244460297748e-05,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 6.896219929330982e-06,
                    "y": -2.985326682392042e-05,
                    "z": 6.0943923017475754e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014201164594851434,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 9.509978553978726e-05,
                    "y": -1.7713755084969307e-07,
                    "z": -0.0001054670792655088
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00022541568614542484,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": 2.944655761893955e-06,
                    "y": 7.571857167931739e-06,
                    "z": 0.00022526923567056656
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012467621127143502,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.928755389410071e-06,
                    "y": 3.926710178348003e-06,
                    "z": 0.0012467163614928722
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.427490234375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00016086579125840217,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0817871168255806
                    }
                },
                "velocity": {
                    "x": 1.9585639165597968e-05,
                    "y": -5.2078998123761266e-05,
                    "z": -0.00015093701949808747
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002883386623580009,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -5.267770120553905e-06,
                    "y": -7.798671504133381e-06,
                    "z": 0.00028818505234085023
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00043637046474032104,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.1462792826932855e-05,
                    "y": -7.003251084825024e-06,
                    "z": 0.0004361636529210955
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.940864086151123,
                "transform": {
                    "location": {
                        "x": -161.92343139648438,
                        "y": 4295.26513671875,
                        "z": 373.03271484375
                    },
                    "rotation": {
                        "roll": 0.00794882420450449,
                        "pitch": 0.284170001745224,
                        "yaw": 178.40464782714844
                    }
                },
                "velocity": {
                    "x": -3.9345462322235107,
                    "y": 0.22260421514511108,
                    "z": 0.014242667704820633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004191273474134505,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.3884752661397215e-05,
                    "y": 2.1048701455583796e-05,
                    "z": 0.00041836811578832567
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0005517274839803576,
                "transform": {
                    "location": {
                        "x": -140.8679656982422,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.21778739988803864,
                        "yaw": 179.46444702148438
                    }
                },
                "velocity": {
                    "x": 1.2592449820658658e-05,
                    "y": 8.07546985015506e-06,
                    "z": 0.0005515246302820742
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.07959693670272827,
                "transform": {
                    "location": {
                        "x": -150.9449920654297,
                        "y": 4295.1572265625,
                        "z": 372.9982604980469
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": 0.20793144404888153,
                        "yaw": 179.51373291015625
                    }
                },
                "velocity": {
                    "x": -0.07959523797035217,
                    "y": 0.0003804144507739693,
                    "z": 0.00035532951005734503
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.023899735882878304,
        "expert_target_speed": 10.0,
        "target_point": [
            24.9125215380061,
            0.47740838549481135
        ],
        "target_point_next": [
            35.9097949248903,
            0.7214564068723935
        ]
    },
    "910": {
        "acceleration": [
            -4.040651321411133,
            0.09357348084449768,
            0.022061914205551147
        ],
        "angular_velocity": [
            0.0325719453394413,
            0.4029303789138794,
            0.2604706287384033
        ],
        "forward_vector": [
            -0.9995850324630737,
            0.02721964381635189,
            0.00942168477922678
        ],
        "right_vector": [
            -0.027219252660870552,
            -0.9996294975280762,
            0.0001699021231615916
        ],
        "location": [
            -161.93991088867188,
            4292.0078125,
            373.0385437011719
        ],
        "rotation": [
            -0.009735106490552425,
            0.5398308038711548,
            178.44017028808594
        ],
        "velocity": [
            -2.5635311603546143,
            0.06324948370456696,
            0.008255462162196636
        ],
        "speed": 2.5643113124770887,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 59.58474349975586,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2091547432646621e-05,
                3.952718998334603e-06,
                0.0006132491980679333
            ],
            "speed_kmh": 0.0022081720615371794,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009631623979657888,
                "transform": {
                    "location": {
                        "x": -174.48741149902344,
                        "y": 4335.4169921875,
                        "z": 373.1209411621094
                    },
                    "rotation": {
                        "roll": 0.00023803566000424325,
                        "pitch": -0.013305207714438438,
                        "yaw": -89.98188018798828
                    }
                },
                "velocity": {
                    "x": -6.1005379393463954e-05,
                    "y": 3.950898644689005e-06,
                    "z": 0.000961220299359411
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1485116481781006,
                "transform": {
                    "location": {
                        "x": -174.4891357421875,
                        "y": 4324.92724609375,
                        "z": 373.1111145019531
                    },
                    "rotation": {
                        "roll": -9.155222505796701e-05,
                        "pitch": -0.02545611374080181,
                        "yaw": -89.94778442382812
                    }
                },
                "velocity": {
                    "x": -0.00033331828308291733,
                    "y": -1.1485098600387573,
                    "z": -0.0020093440543860197
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006715397466905415,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -5.703924398403615e-05,
                    "y": -4.906924459646689e-06,
                    "z": 0.000669094966724515
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010132896713912487,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": 0.0001944547111634165,
                        "pitch": 0.193246528506279,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 8.590757715865038e-06,
                    "y": -9.006113032228313e-06,
                    "z": 0.0010132131865248084
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080521583557129,
                "transform": {
                    "location": {
                        "x": -174.50811767578125,
                        "y": 4256.96435546875,
                        "z": 372.97412109375
                    },
                    "rotation": {
                        "roll": 0.0004748876381199807,
                        "pitch": -0.19582834839820862,
                        "yaw": -89.8694076538086
                    }
                },
                "velocity": {
                    "x": 0.018487704917788506,
                    "y": -8.080451011657715,
                    "z": -0.028162574395537376
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002997542906086892,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.4888122450429364e-06,
                    "y": 7.4548088377923705e-06,
                    "z": 0.00029965786961838603
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00031679109088145196,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -3.6379544326337054e-05,
                    "y": 1.7348549590678886e-05,
                    "z": -0.0003142167115584016
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007662390125915408,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0023193389642983675,
                        "pitch": 0.1644572913646698,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 2.543860233572559e-08,
                    "y": -6.513111202366417e-06,
                    "z": 0.0007662113639526069
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.927108137868345e-05,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": -1.376975342282094e-05,
                    "y": 1.3041165402682964e-05,
                    "z": 8.723329665372148e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00066285120556131,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 9.620674063626211e-06,
                    "y": -2.368605237279553e-05,
                    "z": -0.0006623580120503902
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007770220981910825,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 1.8732314856606536e-05,
                        "pitch": -0.20028845965862274,
                        "yaw": -0.091705322265625
                    }
                },
                "velocity": {
                    "x": 8.805021025182214e-06,
                    "y": -1.8188322314927063e-07,
                    "z": 0.0007769722142256796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.7956269301939756e-05,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 5.75732428842457e-06,
                    "y": 1.6068448530859314e-05,
                    "z": 5.5385804444085807e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00022063073993194848,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -5.002658144803718e-05,
                    "y": 1.6632322513032705e-05,
                    "z": 0.0002142396551789716
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005289633991196752,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": -1.8825008964995504e-06,
                    "y": -8.578931556257885e-06,
                    "z": 0.0005288904649205506
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006133811548352242,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2091547432646621e-05,
                    "y": 3.952718998334603e-06,
                    "z": 0.0006132491980679333
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.71500164270401,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.3303527832031
                    },
                    "rotation": {
                        "roll": 0.00028588695568032563,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.002753503154963255,
                    "y": -8.693078598298598e-06,
                    "z": -0.714996337890625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005057484959252179,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.20987121760845184,
                        "yaw": -0.0817871168255806
                    }
                },
                "velocity": {
                    "x": 1.257322651326831e-06,
                    "y": -5.8175387493974995e-06,
                    "z": 0.000505713454913348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.31878662109375
                    },
                    "rotation": {
                        "roll": -5.2110597087429156e-11,
                        "pitch": 0.22143472731113434,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020660027803387493,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": 7.680107046326157e-06,
                    "y": -8.614808393758722e-06,
                    "z": -0.00020627767662517726
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007559252553619444,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.2200660421513021e-05,
                    "y": 1.2998238162253983e-05,
                    "z": 0.000755715009290725
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.891454696655273,
                "transform": {
                    "location": {
                        "x": -163.05499267578125,
                        "y": 4295.32373046875,
                        "z": 373.03668212890625
                    },
                    "rotation": {
                        "roll": 0.0010110691655427217,
                        "pitch": 0.2789175808429718,
                        "yaw": 177.58851623535156
                    }
                },
                "velocity": {
                    "x": -4.883139133453369,
                    "y": 0.2845773994922638,
                    "z": 0.0171823687851429
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005536912358365953,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 9.01106704986887e-06,
                    "y": -2.2352126052282983e-06,
                    "z": 0.000553613412193954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13705551624298096,
                "transform": {
                    "location": {
                        "x": -140.87530517578125,
                        "y": 4295.10302734375,
                        "z": 372.9607849121094
                    },
                    "rotation": {
                        "roll": -0.00140380859375,
                        "pitch": 0.2206970602273941,
                        "yaw": 179.46170043945312
                    }
                },
                "velocity": {
                    "x": -0.13704530894756317,
                    "y": 0.0008575417450629175,
                    "z": 0.001436157152056694
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5683016777038574,
                "transform": {
                    "location": {
                        "x": -151.02584838867188,
                        "y": 4295.158203125,
                        "z": 372.9985046386719
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": 0.21969985961914062,
                        "yaw": 179.56736755371094
                    }
                },
                "velocity": {
                    "x": -0.5682820677757263,
                    "y": 0.004118266981095076,
                    "z": 0.0023005104158073664
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.012766803614795208,
        "expert_target_speed": 10.0,
        "target_point": [
            24.38184189007976,
            0.45388616385983077
        ],
        "target_point_next": [
            35.37933343119974,
            0.6878972439488557
        ]
    },
    "915": {
        "acceleration": [
            -5.226616859436035,
            0.07575348019599915,
            0.03746757283806801
        ],
        "angular_velocity": [
            -0.019953414797782898,
            0.5147772431373596,
            0.47721126675605774
        ],
        "forward_vector": [
            -0.9996032118797302,
            0.025631792843341827,
            0.011678190901875496
        ],
        "right_vector": [
            -0.025630323216319084,
            -0.9996713995933533,
            0.0002753521257545799
        ],
        "location": [
            -162.73570251464844,
            4292.02685546875,
            373.0408630371094
        ],
        "rotation": [
            -0.01577758975327015,
            0.6691262722015381,
            178.53114318847656
        ],
        "velocity": [
            -3.7859275341033936,
            0.08508288860321045,
            0.012327460572123528
        ],
        "speed": 3.786883466838565,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 58.78883743286133,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.4800317330809776e-05,
                5.574462647928158e-06,
                0.0013713431544601917
            ],
            "speed_kmh": 0.004937163653374281,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5012795329093933,
                "transform": {
                    "location": {
                        "x": -174.4872589111328,
                        "y": 4335.36572265625,
                        "z": 373.120849609375
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": -0.001372867962345481,
                        "yaw": -89.995849609375
                    }
                },
                "velocity": {
                    "x": 0.00012962626351509243,
                    "y": -0.5012773871421814,
                    "z": 0.0014596652472391725
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.13228492438793182,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.1111755371094
                    },
                    "rotation": {
                        "roll": 0.000934386218432337,
                        "pitch": -0.08569838106632233,
                        "yaw": -90.15111541748047
                    }
                },
                "velocity": {
                    "x": 0.00032757213921286166,
                    "y": -0.13219402730464935,
                    "z": -0.004891891498118639
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00015561599866487086,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -2.0068129742867313e-05,
                    "y": -2.3379641334031476e-06,
                    "z": 0.00015429887571372092
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002929123002104461,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 0.00037862404133193195,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -7.757172170386184e-06,
                    "y": -4.754662313644076e-06,
                    "z": 0.0002927709720097482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045531272888184,
                "transform": {
                    "location": {
                        "x": -174.50421142578125,
                        "y": 4254.94873046875,
                        "z": 372.9670715332031
                    },
                    "rotation": {
                        "roll": 7.558614015579224e-05,
                        "pitch": -0.20745332539081573,
                        "yaw": -89.86966705322266
                    }
                },
                "velocity": {
                    "x": 0.01831185631453991,
                    "y": -8.04545783996582,
                    "z": -0.029041713103652
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00013319468416739255,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.4105215086601675e-05,
                    "y": 7.308985459530959e-06,
                    "z": 0.00013224389113020152
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.278423774754629e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 9.976290129998233e-06,
                    "y": -6.254999607335776e-05,
                    "z": 5.330292697180994e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010147845605388284,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0023193389642983675,
                        "pitch": 0.1644572913646698,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 5.951019375061151e-06,
                    "y": -5.574915576289641e-06,
                    "z": 0.001014751847833395
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0001052800434990786,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 8.25535516923992e-06,
                    "y": -1.3168707482691389e-05,
                    "z": 0.00010412646952318028
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.517685051221633e-06,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 6.311349352472462e-06,
                    "y": -1.0633001465976122e-06,
                    "z": 1.2314552577663562e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001222707680426538,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 1.8732314856606536e-05,
                        "pitch": -0.20028845965862274,
                        "yaw": -0.091705322265625
                    }
                },
                "velocity": {
                    "x": 5.687959401257103e-06,
                    "y": -2.401996789558325e-05,
                    "z": 0.0012224584352225065
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00016248713654931635,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 6.866194325994002e-06,
                    "y": 1.7687179934000596e-05,
                    "z": -0.000161375617608428
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 9.431328362552449e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 8.625904592918232e-05,
                    "y": 3.299862214589666e-07,
                    "z": 3.813481089309789e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004724424798041582,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": 9.073801265913062e-06,
                    "y": 1.442049142497126e-05,
                    "z": 0.00047213517245836556
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0013714343076571822,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.4800317330809776e-05,
                    "y": 5.574462647928158e-06,
                    "z": 0.0013713431544601917
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.02083950862288475,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.27947998046875
                    },
                    "rotation": {
                        "roll": 0.000416209310060367,
                        "pitch": 0.22174890339374542,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 8.949834591476247e-05,
                    "y": -4.602289482136257e-05,
                    "z": 0.0208392646163702
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00021323208056855947,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": -0.20989853143692017,
                        "yaw": -0.0818481519818306
                    }
                },
                "velocity": {
                    "x": 1.6931071513681673e-06,
                    "y": 3.843966260319576e-05,
                    "z": -0.00020973185019101948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.04622809216380119,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.3219299316406
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": 0.22127079963684082,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.00019408907974138856,
                    "y": 5.708608659915626e-05,
                    "z": 0.046227648854255676
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00034202865208499134,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": 2.1023338376835454e-06,
                    "y": -5.882643108634511e-06,
                    "z": 0.00034197160857729614
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006434377864934504,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 1.1388100574549753e-05,
                    "y": -4.091580649401294e-06,
                    "z": 0.0006433239905163646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.0478882789611816,
                "transform": {
                    "location": {
                        "x": -163.92601013183594,
                        "y": 4295.37255859375,
                        "z": 373.0408020019531
                    },
                    "rotation": {
                        "roll": -0.008056640625,
                        "pitch": 0.12959599494934082,
                        "yaw": 177.22300720214844
                    }
                },
                "velocity": {
                    "x": -3.0422890186309814,
                    "y": 0.18436141312122345,
                    "z": 0.01051141694188118
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000876011501532048,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 1.3891682101530023e-05,
                    "y": 7.493392217838846e-07,
                    "z": 0.0008759010233916342
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5288724303245544,
                "transform": {
                    "location": {
                        "x": -140.95132446289062,
                        "y": 4295.1025390625,
                        "z": 372.9610595703125
                    },
                    "rotation": {
                        "roll": -0.0010986324632540345,
                        "pitch": 0.2304573953151703,
                        "yaw": 179.42709350585938
                    }
                },
                "velocity": {
                    "x": -0.5288600325584412,
                    "y": 0.0028839826118201017,
                    "z": 0.0021876238752156496
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0669689178466797,
                "transform": {
                    "location": {
                        "x": -151.234130859375,
                        "y": 4295.1591796875,
                        "z": 372.9992370605469
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22321057319641113,
                        "yaw": 179.48414611816406
                    }
                },
                "velocity": {
                    "x": -1.0669432878494263,
                    "y": 0.006957750301808119,
                    "z": 0.0025114631280303
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0035216298419982195,
        "expert_target_speed": 10.0,
        "target_point": [
            23.58651339254141,
            0.4138199796205795
        ],
        "target_point_next": [
            34.584362544773384,
            0.6303734542180295
        ]
    },
    "920": {
        "acceleration": [
            -4.548444747924805,
            -0.023408979177474976,
            0.02020701766014099
        ],
        "angular_velocity": [
            -0.05253323167562485,
            0.03192143887281418,
            1.1974477767944336
        ],
        "forward_vector": [
            -0.9996923208236694,
            0.02140539325773716,
            0.012527613900601864
        ],
        "right_vector": [
            -0.021398568525910378,
            -0.9997707605361938,
            0.0006785200675949454
        ],
        "location": [
            -163.83506774902344,
            4292.04736328125,
            373.04443359375
        ],
        "rotation": [
            -0.0388793908059597,
            0.7177981734275818,
            178.77337646484375
        ],
        "velocity": [
            -4.944493770599365,
            0.07700851559638977,
            0.016370410099625587
        ],
        "speed": 4.94509342267366,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 57.68935012817383,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.2730545677186456e-05,
                9.91704837360885e-06,
                0.0005468836170621216
            ],
            "speed_kmh": 0.0019696379576140685,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.243397831916809,
                "transform": {
                    "location": {
                        "x": -174.4872589111328,
                        "y": 4335.1484375,
                        "z": 373.1208190917969
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": 0.004986037965863943,
                        "yaw": -89.99340057373047
                    }
                },
                "velocity": {
                    "x": -0.00019285846792627126,
                    "y": -1.2433972358703613,
                    "z": 0.0011302375933155417
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00044263520976528525,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.1109619140625
                    },
                    "rotation": {
                        "roll": -0.0003051743551623076,
                        "pitch": -0.08083528280258179,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -0.00018670808640308678,
                    "y": 0.0001371306279907003,
                    "z": 0.0003771752817556262
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000817980500869453,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -4.8213274567388e-05,
                    "y": 4.1262999729951844e-05,
                    "z": 0.000815515115391463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.022445738082752e-05,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": 0.0001683077571215108,
                        "pitch": 0.19336947798728943,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 2.0601646610884927e-06,
                    "y": -6.6506490838946775e-06,
                    "z": 8.995542157208547e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08018970489502,
                "transform": {
                    "location": {
                        "x": -174.497802734375,
                        "y": 4252.93310546875,
                        "z": 372.959716796875
                    },
                    "rotation": {
                        "roll": -0.0007324292091652751,
                        "pitch": -0.2088603377342224,
                        "yaw": -89.8121566772461
                    }
                },
                "velocity": {
                    "x": 0.030786799266934395,
                    "y": -8.080078125,
                    "z": -0.029316740110516548
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002998986456077546,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.36408948492317e-06,
                    "y": 1.4246501450543292e-05,
                    "z": 0.00029955696663819253
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.575270814821124e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -6.959703023312613e-05,
                    "y": 3.196930992999114e-05,
                    "z": 5.746997339883819e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010384701890870929,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0023193389642983675,
                        "pitch": 0.1644572913646698,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 1.0578719411569182e-06,
                    "y": -7.787532922520768e-06,
                    "z": 0.001038440503180027
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00030379369854927063,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 1.0149441550311167e-05,
                    "y": -4.554781844490208e-05,
                    "z": 0.00030018828692846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002787908597383648,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.2130140930821653e-05,
                    "y": 1.1642723620752804e-05,
                    "z": -0.0002782834053505212
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011316122254356742,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.18084716796875
                    },
                    "rotation": {
                        "roll": 0.00043363304575905204,
                        "pitch": -0.19991962611675262,
                        "yaw": -0.0917358472943306
                    }
                },
                "velocity": {
                    "x": 1.373477243760135e-05,
                    "y": -1.135893035097979e-05,
                    "z": 0.001131471828557551
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010087805276270956,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 6.195157766342163e-06,
                    "y": 2.2541040380019695e-05,
                    "z": 9.813206997932866e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.2597257813904434e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 2.4173436031560414e-05,
                    "y": -1.3861636944056954e-05,
                    "z": -1.691393663350027e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00023616678663529456,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": 1.554995651531499e-05,
                    "y": 1.7846396076492965e-05,
                    "z": 0.00023497756046708673
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005471216281875968,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2730545677186456e-05,
                    "y": 9.91704837360885e-06,
                    "z": 0.0005468836170621216
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.022288519889116287,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2879333496094
                    },
                    "rotation": {
                        "roll": -6.103515625e-05,
                        "pitch": 0.22188551723957062,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 9.494055120740086e-05,
                    "y": 6.769329775124788e-05,
                    "z": 0.022288214415311813
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00048417304060421884,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": -0.20989853143692017,
                        "yaw": -0.0818481519818306
                    }
                },
                "velocity": {
                    "x": -6.2903386606194545e-06,
                    "y": -4.408746463013813e-05,
                    "z": -0.00048212058027274907
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.01648460142314434,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.3299560546875
                    },
                    "rotation": {
                        "roll": -0.00015258784696925431,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 7.720675057498738e-05,
                    "y": 0.0001504568208474666,
                    "z": 0.0164837334305048
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014045035641174763,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": 6.4872560869844165e-06,
                    "y": -1.604650060471613e-05,
                    "z": 0.00013937980111222714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00018451828509569168,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 8.137449185596779e-06,
                    "y": -7.3407773015787825e-06,
                    "z": 0.0001841925404733047
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.124042510986328,
                "transform": {
                    "location": {
                        "x": -164.82742309570312,
                        "y": 4295.42529296875,
                        "z": 373.0431213378906
                    },
                    "rotation": {
                        "roll": -0.007720946334302425,
                        "pitch": 0.2377861887216568,
                        "yaw": 176.9688262939453
                    }
                },
                "velocity": {
                    "x": -4.116476535797119,
                    "y": 0.24934913218021393,
                    "z": 0.013186263851821423
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00013271313218865544,
                "transform": {
                    "location": {
                        "x": -131.2785186767578,
                        "y": 4295.0400390625,
                        "z": 372.9256896972656
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.22200845181941986,
                        "yaw": 179.52391052246094
                    }
                },
                "velocity": {
                    "x": 7.525011824327521e-06,
                    "y": 1.3387235412665177e-05,
                    "z": 0.0001318215945502743
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0416630506515503,
                "transform": {
                    "location": {
                        "x": -141.15695190429688,
                        "y": 4295.103515625,
                        "z": 372.9617919921875
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": 0.23482872545719147,
                        "yaw": 179.3824005126953
                    }
                },
                "velocity": {
                    "x": -1.0416418313980103,
                    "y": 0.00610472122207284,
                    "z": 0.002641000784933567
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6702232360839844,
                "transform": {
                    "location": {
                        "x": -151.57937622070312,
                        "y": 4295.16162109375,
                        "z": 373.0003967285156
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": 0.2256421148777008,
                        "yaw": 179.51402282714844
                    }
                },
                "velocity": {
                    "x": -1.6701807975769043,
                    "y": 0.010250568389892578,
                    "z": 0.006065721157938242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00270193163305521,
        "expert_target_speed": 10.0,
        "target_point": [
            22.488499769662635,
            0.3110704321957261
        ],
        "target_point_next": [
            33.48716614719785,
            0.4811271823893406
        ]
    },
    "925": {
        "acceleration": [
            -0.1554107666015625,
            -0.14666013419628143,
            -0.018099583685398102
        ],
        "angular_velocity": [
            -0.2188602089881897,
            -1.297136664390564,
            4.966311931610107
        ],
        "forward_vector": [
            -0.9998507499694824,
            0.014764998108148575,
            0.008970021270215511
        ],
        "right_vector": [
            -0.01475812029093504,
            -0.9998907446861267,
            0.0008324705413542688
        ],
        "location": [
            -165.14515686035156,
            4292.0654296875,
            373.0500183105469
        ],
        "rotation": [
            -0.047698974609375,
            0.5139512419700623,
            179.15396118164062
        ],
        "velocity": [
            -5.281981468200684,
            0.05097426846623421,
            0.01747807487845421
        ],
        "speed": 5.282227428506001,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 56.3791618347168,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.066211552824825e-05,
                -7.714053936069831e-06,
                0.0002607994247227907
            ],
            "speed_kmh": 0.0009400724830763888,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.752031683921814,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.74755859375,
                        "z": 373.1208190917969
                    },
                    "rotation": {
                        "roll": 0.00013464286166708916,
                        "pitch": 0.001611924497410655,
                        "yaw": -90.0069808959961
                    }
                },
                "velocity": {
                    "x": 0.0009984677890315652,
                    "y": -1.7520313262939453,
                    "z": -0.00047723768511787057
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012084402842447162,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.11077880859375
                    },
                    "rotation": {
                        "roll": -9.155392035609111e-05,
                        "pitch": -0.055508945137262344,
                        "yaw": -90.1513442993164
                    }
                },
                "velocity": {
                    "x": -0.00012494606198742986,
                    "y": 2.9041240850347094e-05,
                    "z": 0.0012016126420348883
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00021615161676891148,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -6.868784839753062e-05,
                    "y": -8.485279749947949e-07,
                    "z": 0.00020494579803198576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009662064258009195,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 0.00025943524087779224,
                        "pitch": 0.19316457211971283,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -1.9274570149718784e-05,
                    "y": -1.1542327229108196e-05,
                    "z": 0.0009659451898187399
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.045209884643555,
                "transform": {
                    "location": {
                        "x": -174.49038696289062,
                        "y": 4250.91748046875,
                        "z": 372.95233154296875
                    },
                    "rotation": {
                        "roll": 0.0002718486648518592,
                        "pitch": -0.209072083234787,
                        "yaw": -89.76451873779297
                    }
                },
                "velocity": {
                    "x": 0.034757256507873535,
                    "y": -8.045080184936523,
                    "z": -0.02968245930969715
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00026383958174847066,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": -4.4591723735720734e-07,
                    "y": 1.0752922207757365e-05,
                    "z": 0.0002636199933476746
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0001952576421899721,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 3.294620546512306e-05,
                    "y": -7.29673556634225e-05,
                    "z": 0.00017808946722652763
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012000174028798938,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0013427778612822294,
                        "pitch": 0.16366498172283173,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 1.6601896277279593e-05,
                    "y": 1.3613812370749656e-05,
                    "z": 0.0011998253175988793
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00015087320934981108,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 1.1088326345998212e-06,
                    "y": -3.3942831123567885e-06,
                    "z": 0.0001508309505879879
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.720487817801768e-06,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 5.953199888608651e-06,
                    "y": -2.799869776026753e-07,
                    "z": -3.1057968499226263e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010657376842573285,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.0011797274928539991,
                        "pitch": -0.19955763220787048,
                        "yaw": -0.091766357421875
                    }
                },
                "velocity": {
                    "x": 2.3504308046540245e-05,
                    "y": 1.2984765817236621e-05,
                    "z": 0.0010653993813320994
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00014172372175380588,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 5.300566499499837e-06,
                    "y": 1.4650797311333008e-05,
                    "z": 0.00014086472219787538
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003593021829146892,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 1.8001599528361112e-05,
                    "y": -8.327197065227665e-06,
                    "z": 0.00035875430330634117
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.97020732332021e-05,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": -2.218969029854634e-06,
                    "y": -4.17233859479893e-05,
                    "z": 5.579081334872171e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00026113123749382794,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.066211552824825e-05,
                    "y": -7.714053936069831e-06,
                    "z": 0.0002607994247227907
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0015916686970740557,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2900390625
                    },
                    "rotation": {
                        "roll": 0.0005898331291973591,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.1301822269160766e-05,
                    "y": -2.7045562092098407e-05,
                    "z": 0.001591398729942739
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002935615193564445,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": -0.20989853143692017,
                        "yaw": -0.0818481519818306
                    }
                },
                "velocity": {
                    "x": -1.3599916428574943e-06,
                    "y": 4.162603727309033e-05,
                    "z": -0.0002905921428464353
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0025143928360193968,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.3318786621094
                    },
                    "rotation": {
                        "roll": 9.868235792964697e-05,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 1.0739155186456628e-05,
                    "y": -0.00041956116911023855,
                    "z": 0.0024791175965219736
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005945881130173802,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": 1.8093867765855975e-05,
                    "y": -3.5310536077304278e-06,
                    "z": 0.0005943022551946342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006580176996067166,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 3.289855885668658e-05,
                    "y": -5.099683767184615e-05,
                    "z": 0.0006552131962962449
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.7523155212402344,
                "transform": {
                    "location": {
                        "x": -165.79507446289062,
                        "y": 4295.48291015625,
                        "z": 373.0472717285156
                    },
                    "rotation": {
                        "roll": -0.00918578915297985,
                        "pitch": 0.12200766056776047,
                        "yaw": 176.712646484375
                    }
                },
                "velocity": {
                    "x": -2.747105598449707,
                    "y": 0.16899928450584412,
                    "z": 0.009512815624475479
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.11836007982492447,
                "transform": {
                    "location": {
                        "x": -131.2841339111328,
                        "y": 4295.0400390625,
                        "z": 372.9256591796875
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": 0.22694668173789978,
                        "yaw": 179.5166015625
                    }
                },
                "velocity": {
                    "x": -0.11834996193647385,
                    "y": 0.0011987071484327316,
                    "z": 0.0009787369053810835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5927718877792358,
                "transform": {
                    "location": {
                        "x": -141.49639892578125,
                        "y": 4295.10595703125,
                        "z": 372.9630126953125
                    },
                    "rotation": {
                        "roll": -0.0016174317570403218,
                        "pitch": 0.2338588386774063,
                        "yaw": 179.45213317871094
                    }
                },
                "velocity": {
                    "x": -1.592734932899475,
                    "y": 0.009219294413924217,
                    "z": 0.005723075941205025
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1289124488830566,
                "transform": {
                    "location": {
                        "x": -152.05178833007812,
                        "y": 4295.1650390625,
                        "z": 373.00213623046875
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.22285540401935577,
                        "yaw": 179.5501251220703
                    }
                },
                "velocity": {
                    "x": -2.1288630962371826,
                    "y": 0.013251286000013351,
                    "z": 0.0059178732335567474
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.010316163301467896,
        "expert_target_speed": 10.0,
        "target_point": [
            21.179856914613577,
            0.16039836726677922
        ],
        "target_point_next": [
            32.179410271572046,
            0.25738975881045223
        ]
    },
    "930": {
        "acceleration": [
            -4.593420028686523,
            -0.18254859745502472,
            -0.002971850335597992
        ],
        "angular_velocity": [
            0.06234809756278992,
            0.9122867584228516,
            -0.9147360324859619
        ],
        "forward_vector": [
            -0.9999050498008728,
            0.007662346586585045,
            0.011452900245785713
        ],
        "right_vector": [
            -0.007649979088455439,
            -0.9999700784683228,
            0.0011232473189011216
        ],
        "location": [
            -166.59288024902344,
            4292.07470703125,
            373.0544128417969
        ],
        "rotation": [
            -0.0643615648150444,
            0.6562172174453735,
            179.56094360351562
        ],
        "velocity": [
            -6.567838668823242,
            0.014398488216102123,
            0.021657351404428482
        ],
        "speed": 6.567854451504903,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.246416592646742,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 3.513245105743408,
        "front_vehicle_info": {
            "id": 11262,
            "type": "vehicle.audi.tt",
            "location": [
                -166.57272338867188,
                4295.587890625,
                373.04931640625
            ],
            "velocity": [
                -3.5280935764312744,
                0.9108720421791077,
                0.011523036286234856
            ],
            "speed_kmh": 13.11767333194845,
            "color": "33,33,33"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001578476163558662,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.61962890625,
                        "z": 373.12115478515625
                    },
                    "rotation": {
                        "roll": -0.000213623556192033,
                        "pitch": -0.0455300398170948,
                        "yaw": -90.00420379638672
                    }
                },
                "velocity": {
                    "x": 8.305139635922387e-05,
                    "y": 2.605195732030552e-05,
                    "z": -0.0015760745154693723
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014296373119577765,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.11077880859375
                    },
                    "rotation": {
                        "roll": -0.000793457729741931,
                        "pitch": -0.04431426525115967,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -0.00015921893646009266,
                    "y": 4.385542069940129e-06,
                    "z": 0.0014207367785274982
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011216399725526571,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 0.00016160198720172048,
                    "y": -5.194316599954618e-06,
                    "z": 0.0011099252151325345
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00023023944231681526,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 2.737427166721318e-05,
                        "pitch": 0.19308260083198547,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -7.766208909743e-06,
                    "y": -1.0377391845395323e-05,
                    "z": 0.00022987430565990508
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.080879211425781,
                "transform": {
                    "location": {
                        "x": -174.48062133789062,
                        "y": 4248.90185546875,
                        "z": 372.9447937011719
                    },
                    "rotation": {
                        "roll": -0.0020141599234193563,
                        "pitch": -0.21859335899353027,
                        "yaw": -89.7036361694336
                    }
                },
                "velocity": {
                    "x": 0.055669017136096954,
                    "y": -8.080633163452148,
                    "z": -0.02958296239376068
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005857748328708112,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.1705644283210859e-05,
                    "y": -6.8380218181118835e-06,
                    "z": 0.0005856179632246494
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00041558430530130863,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 2.622157262521796e-05,
                    "y": 9.03445907169953e-05,
                    "z": 0.00040479699964635074
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0009068284998647869,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0015564023051410913,
                        "pitch": 0.16373328864574432,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -6.577782187378034e-06,
                    "y": -1.3249144103610888e-05,
                    "z": 0.0009067078353837132
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002716848102863878,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 1.02349740700447e-05,
                    "y": 0.00012117527512600645,
                    "z": -0.00024294943432323635
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002023127453867346,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.0015032785304356e-05,
                    "y": 3.8515983760589734e-05,
                    "z": 0.00019835993589367718
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002811962040141225,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.0011797274928539991,
                        "pitch": -0.19955763220787048,
                        "yaw": -0.091766357421875
                    }
                },
                "velocity": {
                    "x": -7.525123692175839e-06,
                    "y": -3.785078661167063e-05,
                    "z": 0.0002785354445222765
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00036736324545927346,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 1.2821778000216e-05,
                    "y": 2.610833462313167e-06,
                    "z": 0.0003671301528811455
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00042983845924027264,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 2.055495497188531e-05,
                    "y": -1.70872917806264e-05,
                    "z": 0.00042900655535049736
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00011136553075630218,
                "transform": {
                    "location": {
                        "x": -121.3586654663086,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": 0.0006652619922533631,
                        "pitch": 0.22616121172904968,
                        "yaw": 179.83505249023438
                    }
                },
                "velocity": {
                    "x": 1.0739713616203517e-05,
                    "y": -7.070551077958953e-07,
                    "z": 0.00011084421566920355
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007376950816251338,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.193024218082428e-05,
                    "y": 1.1798373634519521e-05,
                    "z": 0.0007375042187049985
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003218209894839674,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2900390625
                    },
                    "rotation": {
                        "roll": 0.0005898331291973591,
                        "pitch": 0.22178305685520172,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 4.589296622725669e-06,
                    "y": 1.0893701983150095e-05,
                    "z": -0.0003216038167010993
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005634187837131321,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": -0.20989853143692017,
                        "yaw": -0.0818481519818306
                    }
                },
                "velocity": {
                    "x": 1.8646343960426748e-05,
                    "y": 3.7278607578628e-06,
                    "z": 0.0005630978266708553
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001519424724392593,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.33203125
                    },
                    "rotation": {
                        "roll": 0.00014318080502562225,
                        "pitch": 0.22208358347415924,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 4.075579454365652e-06,
                    "y": -3.252258829888888e-05,
                    "z": 0.0015190711710602045
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011735508451238275,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -2.2930185878067277e-05,
                    "y": -1.1442563845776021e-05,
                    "z": 0.00011452288163127378
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000493281870149076,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 8.062831511779223e-06,
                    "y": 8.038398846110795e-06,
                    "z": 0.0004931504372507334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6437981128692627,
                "transform": {
                    "location": {
                        "x": -166.57272338867188,
                        "y": 4295.587890625,
                        "z": 373.04931640625
                    },
                    "rotation": {
                        "roll": 0.08026990294456482,
                        "pitch": 0.20621022582054138,
                        "yaw": 174.30255126953125
                    }
                },
                "velocity": {
                    "x": -3.5280935764312744,
                    "y": 0.9108720421791077,
                    "z": 0.011523036286234856
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.7619467973709106,
                "transform": {
                    "location": {
                        "x": -131.3907012939453,
                        "y": 4295.041015625,
                        "z": 372.9261169433594
                    },
                    "rotation": {
                        "roll": 1.561428143759258e-05,
                        "pitch": 0.23803207278251648,
                        "yaw": 179.5985565185547
                    }
                },
                "velocity": {
                    "x": -0.7619346976280212,
                    "y": 0.0036201816983520985,
                    "z": 0.002320470754057169
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1149144172668457,
                "transform": {
                    "location": {
                        "x": -141.9606170654297,
                        "y": 4295.109375,
                        "z": 372.96484375
                    },
                    "rotation": {
                        "roll": -0.00152587890625,
                        "pitch": 0.2326020747423172,
                        "yaw": 179.49900817871094
                    }
                },
                "velocity": {
                    "x": -2.1148669719696045,
                    "y": 0.012390096671879292,
                    "z": 0.006829338148236275
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6888058185577393,
                "transform": {
                    "location": {
                        "x": -152.65695190429688,
                        "y": 4295.1689453125,
                        "z": 373.0041809082031
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.22394822537899017,
                        "yaw": 179.57989501953125
                    }
                },
                "velocity": {
                    "x": -2.688739061355591,
                    "y": 0.016237333416938782,
                    "z": 0.009765243157744408
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.024881428107619286,
        "expert_target_speed": 10.0,
        "target_point": [
            19.73270995241864,
            0.008139397298250167
        ],
        "target_point_next": [
            30.732674755887068,
            0.02699954220158915
        ]
    },
    "935": {
        "acceleration": [
            0.8172035217285156,
            -0.21809332072734833,
            -0.0014909729361534119
        ],
        "angular_velocity": [
            0.020849619060754776,
            -1.4529730081558228,
            4.8546929359436035
        ],
        "forward_vector": [
            -0.9999651312828064,
            -0.00034465384669601917,
            0.008340618573129177
        ],
        "right_vector": [
            0.0003540170146152377,
            -0.9999992847442627,
            0.0011211511446163058
        ],
        "location": [
            -168.28866577148438,
            4292.07421875,
            373.0606689453125
        ],
        "rotation": [
            -0.06423947960138321,
            0.4778878092765808,
            -179.98025512695312
        ],
        "velocity": [
            -6.775279998779297,
            -0.03349129483103752,
            0.021631088107824326
        ],
        "speed": 6.775362774692455,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.215899528140872,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 15.766218185424805,
        "front_vehicle_info": {
            "id": 11476,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -177.50350952148438,
                4279.28125,
                373.0450744628906
            ],
            "velocity": [
                7.703250594204292e-05,
                -2.4037510229391046e-05,
                -0.00012064326438121498
            ],
            "speed_kmh": 0.0005225162343788175,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0016175387427210808,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1209411621094
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": -0.021760981529951096,
                        "yaw": -90.00420379638672
                    }
                },
                "velocity": {
                    "x": 7.14059206075035e-05,
                    "y": 1.034225078910822e-05,
                    "z": -0.0016159287188202143
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014410093426704407,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.11077880859375
                    },
                    "rotation": {
                        "roll": -0.000793457729741931,
                        "pitch": -0.04431426525115967,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -2.1879493942833506e-05,
                    "y": 3.030653942914796e-06,
                    "z": 0.0014408400747925043
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007955524488352239,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 3.402660877327435e-05,
                    "y": -1.0329205224479665e-06,
                    "z": 0.0007948238053359091
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010940630454570055,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 2.737427166721318e-05,
                        "pitch": 0.19308260083198547,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 8.014687409740873e-06,
                    "y": -1.1423974683566485e-05,
                    "z": 0.0010939741041511297
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04615592956543,
                "transform": {
                    "location": {
                        "x": -174.4656219482422,
                        "y": 4246.88671875,
                        "z": 372.9371032714844
                    },
                    "rotation": {
                        "roll": -0.001983658177778125,
                        "pitch": -0.22439901530742645,
                        "yaw": -89.53179168701172
                    }
                },
                "velocity": {
                    "x": 0.073769211769104,
                    "y": -8.045756340026855,
                    "z": -0.031549591571092606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.230563253164291e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 9.067616701941006e-06,
                    "y": -2.647831479407614e-06,
                    "z": 8.17617546999827e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 9.618868352845311e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -2.726610728132073e-05,
                    "y": -1.683697701082565e-05,
                    "z": -9.069365478353575e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0015564023051410913,
                        "pitch": 0.16373328864574432,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0002447842853143811,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 8.559226444049273e-06,
                    "y": -1.3921950994699728e-05,
                    "z": 0.0002442381519358605
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0002958940458483994,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.2422427062119823e-05,
                    "y": 3.249474048061529e-06,
                    "z": -0.00029561531846411526
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.00012410106137394905,
                        "pitch": -0.20006988942623138,
                        "yaw": -0.0917968824505806
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001556644419906661,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 2.668425338470115e-07,
                    "y": 2.3716967916698195e-05,
                    "z": 0.00015384684957098216
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00014514339272864163,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 7.703250594204292e-05,
                    "y": -2.4037510229391046e-05,
                    "z": -0.00012064326438121498
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.060209546238183975,
                "transform": {
                    "location": {
                        "x": -121.36195373535156,
                        "y": 4294.9853515625,
                        "z": 372.8810119628906
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.2299382984638214,
                        "yaw": 179.83517456054688
                    }
                },
                "velocity": {
                    "x": -0.06020700931549072,
                    "y": 0.00032236240804195404,
                    "z": 0.0004493999294936657
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00024328667495865375,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 8.06279422249645e-06,
                    "y": 4.2344686335127335e-06,
                    "z": 0.00024311617016792297
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0018409357871860266,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.28997802734375
                    },
                    "rotation": {
                        "roll": 0.000910270435269922,
                        "pitch": 0.22148935496807098,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": -6.229430482562748e-07,
                    "y": 7.258634923346108e-06,
                    "z": -0.00184092135168612
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003705361159518361,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.2133483886719
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.2099599987268448,
                        "yaw": -0.0819091871380806
                    }
                },
                "velocity": {
                    "x": 1.5781446563778445e-05,
                    "y": 7.791819371050224e-06,
                    "z": 0.0003701178648043424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0017700522439554334,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.3320617675781
                    },
                    "rotation": {
                        "roll": 0.0001395468570990488,
                        "pitch": 0.22181038558483124,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 2.6198475097771734e-05,
                    "y": 3.0713239539181814e-05,
                    "z": 0.0017695918213576078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003300714888609946,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": 2.1262971131363884e-05,
                    "y": -9.174682418233715e-06,
                    "z": 0.0003292580950073898
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001165031106211245,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 7.901601748017129e-06,
                    "y": -2.2896178052178584e-05,
                    "z": 0.0011647792998701334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.002612590789795,
                "transform": {
                    "location": {
                        "x": -167.6219482421875,
                        "y": 4295.8388671875,
                        "z": 373.0528869628906
                    },
                    "rotation": {
                        "roll": 0.014666575007140636,
                        "pitch": 0.29022839665412903,
                        "yaw": 169.5998077392578
                    }
                },
                "velocity": {
                    "x": -4.813966751098633,
                    "y": 1.3606188297271729,
                    "z": 0.02390199527144432
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.500693917274475,
                "transform": {
                    "location": {
                        "x": -131.6789093017578,
                        "y": 4295.04296875,
                        "z": 372.9270324707031
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": 0.24208921194076538,
                        "yaw": 179.62548828125
                    }
                },
                "velocity": {
                    "x": -1.5006600618362427,
                    "y": 0.008288647048175335,
                    "z": 0.005754079669713974
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.221336841583252,
                "transform": {
                    "location": {
                        "x": -142.52163696289062,
                        "y": 4295.11376953125,
                        "z": 372.9669189453125
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 0.22033506631851196,
                        "yaw": 179.54769897460938
                    }
                },
                "velocity": {
                    "x": -2.221281051635742,
                    "y": 0.012375922873616219,
                    "z": 0.009731711819767952
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2653818130493164,
                "transform": {
                    "location": {
                        "x": -153.4015655517578,
                        "y": 4295.17333984375,
                        "z": 373.0069885253906
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": 0.22525963187217712,
                        "yaw": 179.6063232421875
                    }
                },
                "velocity": {
                    "x": -3.2653048038482666,
                    "y": 0.019684026017785072,
                    "z": 0.010736217722296715
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05517064034938812,
        "expert_target_speed": 10.0,
        "target_point": [
            18.03635690611389,
            -0.14977300429841198
        ],
        "target_point_next": [
            29.036120071454803,
            -0.21899503127778552
        ]
    },
    "940": {
        "acceleration": [
            -1.6414356231689453,
            -0.22060871124267578,
            0.022570788860321045
        ],
        "angular_velocity": [
            0.011126390658318996,
            0.1144811287522316,
            -1.1172819137573242
        ],
        "forward_vector": [
            -0.9999549388885498,
            -0.007510139141231775,
            0.005809393245726824
        ],
        "right_vector": [
            0.007516208570450544,
            -0.9999712109565735,
            0.0010237012756988406
        ],
        "location": [
            -169.99241638183594,
            4292.060546875,
            373.0669860839844
        ],
        "rotation": [
            -0.05865476652979851,
            0.33285558223724365,
            -179.56968688964844
        ],
        "velocity": [
            -6.959635257720947,
            -0.08704695850610733,
            0.024824246764183044
        ],
        "speed": 6.96017960210063,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 51.53201675415039,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.1794902093242854e-05,
                2.0626079276553355e-05,
                0.0012612591963261366
            ],
            "speed_kmh": 0.004541338737059742,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004385195788927376,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": -0.015285962261259556,
                        "yaw": -90.00424194335938
                    }
                },
                "velocity": {
                    "x": 4.826902295462787e-05,
                    "y": 1.6111694094433915e-06,
                    "z": -0.00043585195089690387
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008756143506616354,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.1107482910156
                    },
                    "rotation": {
                        "roll": -0.001159669947810471,
                        "pitch": -0.04159585013985634,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -2.2972461010795087e-05,
                    "y": -1.1745276424335316e-05,
                    "z": 0.0008752341382205486
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003137774474453181,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 0.00014935218496248126,
                    "y": -6.523514002765296e-06,
                    "z": -0.00027587616932578385
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000444806762970984,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": -0.00021361804101616144,
                        "pitch": 0.19319872558116913,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 7.62867648518295e-06,
                    "y": -6.789751296309987e-06,
                    "z": 0.00044468953274190426
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081084251403809,
                "transform": {
                    "location": {
                        "x": -174.44686889648438,
                        "y": 4244.87060546875,
                        "z": 372.92913818359375
                    },
                    "rotation": {
                        "roll": -0.001159674022346735,
                        "pitch": -0.22952166199684143,
                        "yaw": -89.43476867675781
                    }
                },
                "velocity": {
                    "x": 0.08192773908376694,
                    "y": -8.08060359954834,
                    "z": -0.0324748232960701
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015036494005471468,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 2.0802244762307964e-05,
                    "y": -5.963591775071109e-06,
                    "z": 0.00014879959053359926
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000332791794789955,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 4.131570221943548e-06,
                    "y": 1.7742417185218073e-05,
                    "z": 0.0003322928096167743
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008288059616461396,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0015564023051410913,
                        "pitch": 0.16373328864574432,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -7.902023639871913e-07,
                    "y": -8.275080290331971e-06,
                    "z": 0.0008287642849609256
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.285166894784197e-05,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": -1.3333074093679897e-05,
                    "y": 2.9458307835739106e-05,
                    "z": -5.802548002975527e-06
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011781790817622095,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.000296824611723423,
                        "pitch": -0.20034992694854736,
                        "yaw": -0.091796875
                    }
                },
                "velocity": {
                    "x": 3.542192189343041e-06,
                    "y": -2.1995268980390392e-05,
                    "z": -0.00011569235357455909
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00010320097499061376,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 4.896037353319116e-06,
                    "y": -2.574908285168931e-05,
                    "z": 9.981710172723979e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002780649811029434,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -5.3343621402746066e-05,
                    "y": 4.273596914572408e-06,
                    "z": 0.00027286686236038804
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.8426600098609924,
                "transform": {
                    "location": {
                        "x": -121.4633560180664,
                        "y": 4294.9853515625,
                        "z": 372.88116455078125
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.2674292027950287,
                        "yaw": 179.7980499267578
                    }
                },
                "velocity": {
                    "x": -0.8426365256309509,
                    "y": 0.006028738338500261,
                    "z": 0.0017830561846494675
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001261482946574688,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.1794902093242854e-05,
                    "y": 2.0626079276553355e-05,
                    "z": 0.0012612591963261366
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004080287180840969,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 5.932897238380974e-06,
                    "y": 1.3119289178575855e-05,
                    "z": -0.0004077745834365487
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000762414070777595,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": -0.2097482681274414,
                        "yaw": -0.0819091796875
                    }
                },
                "velocity": {
                    "x": 1.365765911032213e-06,
                    "y": 1.952259299287107e-05,
                    "z": 0.0007621628465130925
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001195732969790697,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.3321533203125
                    },
                    "rotation": {
                        "roll": -0.00018310554150957614,
                        "pitch": 0.22171476483345032,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 8.429735316894948e-06,
                    "y": -4.590440585161559e-05,
                    "z": 0.0011948217870667577
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003653237654361874,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -3.834804374491796e-06,
                    "y": -1.0823197044373956e-05,
                    "z": 0.0003651432634796947
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00025157578056678176,
                "transform": {
                    "location": {
                        "x": -111.06405639648438,
                        "y": 4294.9296875,
                        "z": 372.8502197265625
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": 0.22500690817832947,
                        "yaw": 179.33505249023438
                    }
                },
                "velocity": {
                    "x": 7.73992360336706e-06,
                    "y": 3.177766484441236e-05,
                    "z": 0.00024944066535681486
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.680316925048828,
                "transform": {
                    "location": {
                        "x": -168.95350646972656,
                        "y": 4296.201171875,
                        "z": 373.05859375
                    },
                    "rotation": {
                        "roll": 0.003734045894816518,
                        "pitch": 0.3837609887123108,
                        "yaw": 165.92494201660156
                    }
                },
                "velocity": {
                    "x": -6.397007465362549,
                    "y": 1.924614667892456,
                    "z": 0.028126496821641922
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3479561805725098,
                "transform": {
                    "location": {
                        "x": -132.16358947753906,
                        "y": 4295.04638671875,
                        "z": 372.9289245605469
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": 0.242902010679245,
                        "yaw": 179.61219787597656
                    }
                },
                "velocity": {
                    "x": -2.3478949069976807,
                    "y": 0.014565618708729744,
                    "z": 0.008704709820449352
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5195248126983643,
                "transform": {
                    "location": {
                        "x": -143.10562133789062,
                        "y": 4295.11767578125,
                        "z": 372.9692077636719
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.2215166836977005,
                        "yaw": 179.58755493164062
                    }
                },
                "velocity": {
                    "x": -2.5194690227508545,
                    "y": 0.013713289983570576,
                    "z": 0.009694528765976429
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.029985427856445,
                "transform": {
                    "location": {
                        "x": -154.31288146972656,
                        "y": 4295.17919921875,
                        "z": 373.01019287109375
                    },
                    "rotation": {
                        "roll": 4.937591074849479e-05,
                        "pitch": 0.23006124794483185,
                        "yaw": 179.62928771972656
                    }
                },
                "velocity": {
                    "x": -4.029892444610596,
                    "y": 0.02381754294037819,
                    "z": 0.013555488549172878
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09228507429361343,
        "expert_target_speed": 10.0,
        "target_point": [
            16.33101533174771,
            -0.2798902359242295
        ],
        "target_point_next": [
            27.330000043519792,
            -0.4279331108420996
        ]
    },
    "945": {
        "acceleration": [
            -2.5629138946533203,
            -0.08141100406646729,
            0.007691383361816406
        ],
        "angular_velocity": [
            0.11222919076681137,
            0.3585159480571747,
            3.1724109649658203
        ],
        "forward_vector": [
            -0.9999014735221863,
            -0.011986752972006798,
            0.007307821419090033
        ],
        "right_vector": [
            0.01198696717619896,
            -0.9999281764030457,
            -1.4487492080661468e-05
        ],
        "location": [
            -171.80343627929688,
            4292.0390625,
            373.0731201171875
        ],
        "rotation": [
            0.0008300943300127983,
            0.4187110662460327,
            -179.31317138671875
        ],
        "velocity": [
            -7.530749797821045,
            -0.09945068508386612,
            0.025902222841978073
        ],
        "speed": 7.531406439447108,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 49.721195220947266,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                9.640790267440025e-06,
                6.488297003670596e-06,
                0.0006526331999339163
            ],
            "speed_kmh": 0.0023498519461708635,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00024502587621100247,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": -0.015285962261259556,
                        "yaw": -90.00424194335938
                    }
                },
                "velocity": {
                    "x": -1.6084510207292624e-05,
                    "y": -2.1034875317127444e-06,
                    "z": -0.0002444883284624666
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012598251923918724,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.11077880859375
                    },
                    "rotation": {
                        "roll": -0.00048828028957359493,
                        "pitch": -0.042087621986866,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": 4.207770325592719e-05,
                    "y": -1.499978793617629e-06,
                    "z": 0.0012591214617714286
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00047968627768568695,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -4.243271177983843e-05,
                    "y": -3.157060928060673e-05,
                    "z": 0.00047676166286692023
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002445568679831922,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -9.154772851616144e-05,
                        "pitch": 0.1930416226387024,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 7.544558229710674e-06,
                    "y": -9.354017493024003e-06,
                    "z": 0.0002442614350002259
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04601001739502,
                "transform": {
                    "location": {
                        "x": -174.4215545654297,
                        "y": 4242.85546875,
                        "z": 372.9210510253906
                    },
                    "rotation": {
                        "roll": -0.002655030693858862,
                        "pitch": -0.23101747035980225,
                        "yaw": -89.2301025390625
                    }
                },
                "velocity": {
                    "x": 0.12175733596086502,
                    "y": -8.045022010803223,
                    "z": -0.03282948583364487
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004578292719088495,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 9.448937817069236e-06,
                    "y": -1.0885797564696986e-05,
                    "z": 0.0004576022911351174
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000309441180434078,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 2.968774970213417e-05,
                    "y": -8.263788186013699e-05,
                    "z": 0.00029672117670997977
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005520962295122445,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0018310584127902985,
                        "pitch": 0.16384257376194,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 3.205174652975984e-05,
                    "y": -1.669330413278658e-05,
                    "z": 0.0005509122274816036
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.000323024345561862,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 1.294311095989542e-05,
                    "y": -3.895807094522752e-05,
                    "z": 0.0003204051754437387
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008682734332978725,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 4.395134510559728e-06,
                    "y": 8.744466867938172e-06,
                    "z": 0.0008682183106429875
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002854679187294096,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.0003355087828822434,
                        "pitch": -0.199858158826828,
                        "yaw": -0.091796875
                    }
                },
                "velocity": {
                    "x": -1.2511387694758014e-06,
                    "y": -6.237870366021525e-06,
                    "z": 0.0002853969926945865
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000459415081422776,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 1.076664739230182e-05,
                    "y": 1.1649062798824161e-05,
                    "z": 0.0004591411561705172
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.128131983336061e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 2.53756206802791e-05,
                    "y": -1.3478043911163695e-05,
                    "z": 6.523378397105262e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1770734786987305,
                "transform": {
                    "location": {
                        "x": -121.74578094482422,
                        "y": 4294.9873046875,
                        "z": 372.882568359375
                    },
                    "rotation": {
                        "roll": 0.0012496191775426269,
                        "pitch": 0.2539464235305786,
                        "yaw": 179.7581787109375
                    }
                },
                "velocity": {
                    "x": -1.1769447326660156,
                    "y": 0.016623632982373238,
                    "z": 0.005166549701243639
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006527366349473596,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 9.640790267440025e-06,
                    "y": 6.488297003670596e-06,
                    "z": 0.0006526331999339163
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007746064220555127,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 6.519593171105953e-06,
                    "y": 2.0261575173208257e-06,
                    "z": -0.0007745763286948204
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.263613168906886e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -0.20972095429897308,
                        "yaw": -0.081939697265625
                    }
                },
                "velocity": {
                    "x": 6.900429525558138e-06,
                    "y": 1.7660053117651842e-06,
                    "z": 2.148626845155377e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012032074155285954,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.33209228515625
                    },
                    "rotation": {
                        "roll": 6.1871534853708e-05,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 1.0576993190625217e-05,
                    "y": -1.0021845810115337e-05,
                    "z": 0.0012031191727146506
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001722122833598405,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -1.7142341675935313e-05,
                    "y": -1.3667009625351056e-05,
                    "z": 0.00017081107944250107
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.339363157749176,
                "transform": {
                    "location": {
                        "x": -111.08859252929688,
                        "y": 4294.9296875,
                        "z": 372.850341796875
                    },
                    "rotation": {
                        "roll": -0.0022277829702943563,
                        "pitch": 0.2675863206386566,
                        "yaw": 179.33103942871094
                    }
                },
                "velocity": {
                    "x": -0.3393493890762329,
                    "y": 0.0026151223573833704,
                    "z": 0.0015825366135686636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.20815372467041,
                "transform": {
                    "location": {
                        "x": -170.71507263183594,
                        "y": 4296.86669921875,
                        "z": 373.06695556640625
                    },
                    "rotation": {
                        "roll": 0.1746997982263565,
                        "pitch": 0.3827296197414398,
                        "yaw": 158.98446655273438
                    }
                },
                "velocity": {
                    "x": -7.270074367523193,
                    "y": 3.8102972507476807,
                    "z": 0.03796318918466568
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.067047357559204,
                "transform": {
                    "location": {
                        "x": -132.84445190429688,
                        "y": 4295.05029296875,
                        "z": 372.9316711425781
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.24161793291568756,
                        "yaw": 179.62432861328125
                    }
                },
                "velocity": {
                    "x": -3.066971778869629,
                    "y": 0.018625089898705482,
                    "z": 0.010769061744213104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0594472885131836,
                "transform": {
                    "location": {
                        "x": -143.80413818359375,
                        "y": 4295.1220703125,
                        "z": 372.9718017578125
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": 0.2299382984638214,
                        "yaw": 179.62379455566406
                    }
                },
                "velocity": {
                    "x": -3.059387445449829,
                    "y": 0.016070295125246048,
                    "z": 0.010366449132561684
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.971751689910889,
                "transform": {
                    "location": {
                        "x": -155.43975830078125,
                        "y": 4295.1865234375,
                        "z": 373.01409912109375
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.23657724261283875,
                        "yaw": 179.64166259765625
                    }
                },
                "velocity": {
                    "x": -4.971627712249756,
                    "y": 0.029971227049827576,
                    "z": 0.018240299075841904
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1240941509604454,
        "expert_target_speed": 8.214061515422632,
        "target_point": [
            14.51845127870109,
            -0.35277492705139873
        ],
        "target_point_next": [
            25.516662970935585,
            -0.5500588731959272
        ]
    },
    "950": {
        "acceleration": [
            -2.7787017822265625,
            0.1264674961566925,
            0.0034608691930770874
        ],
        "angular_velocity": [
            0.29742974042892456,
            0.23282988369464874,
            -3.2867939472198486
        ],
        "forward_vector": [
            -0.9999029040336609,
            -0.01102328673005104,
            0.008527889847755432
        ],
        "right_vector": [
            0.01101263053715229,
            -0.9999385476112366,
            -0.0012954985722899437
        ],
        "location": [
            -173.77406311035156,
            4292.01611328125,
            373.0801086425781
        ],
        "rotation": [
            0.07422932237386703,
            0.48861804604530334,
            -179.36837768554688
        ],
        "velocity": [
            -8.209242820739746,
            -0.07885760068893433,
            0.030054472386837006
        ],
        "speed": 8.20962156320579,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 47.75080871582031,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                7.645077857887372e-06,
                -2.3714731867130467e-07,
                3.175423989887349e-05
            ],
            "speed_kmh": 0.00011758479607472313,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006957019795663655,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": -0.015285962261259556,
                        "yaw": -90.00424194335938
                    }
                },
                "velocity": {
                    "x": -9.131227670877706e-06,
                    "y": -3.211712282791268e-07,
                    "z": -0.0006956419674679637
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009757945081219077,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.11077880859375
                    },
                    "rotation": {
                        "roll": -0.00048828028957359493,
                        "pitch": -0.042087621986866,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -1.3609296729555354e-05,
                    "y": 2.675782866390364e-07,
                    "z": 0.0009756995714269578
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003196016186848283,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -4.7562385589117184e-05,
                    "y": -9.908499123412184e-06,
                    "z": 0.0003158873878419399
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007135889027267694,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.00021361804101616144,
                        "pitch": 0.19311675429344177,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -1.767927642504219e-05,
                    "y": -8.243508091254625e-06,
                    "z": 0.0007133221952244639
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081297874450684,
                "transform": {
                    "location": {
                        "x": -174.39047241210938,
                        "y": 4240.83935546875,
                        "z": 372.9129333496094
                    },
                    "rotation": {
                        "roll": -0.0011901834513992071,
                        "pitch": -0.2312018871307373,
                        "yaw": -89.06829071044922
                    }
                },
                "velocity": {
                    "x": 0.13614831864833832,
                    "y": -8.080084800720215,
                    "z": -0.03272712230682373
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00017750347615219653,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.40082090638316e-06,
                    "y": -3.041093805222772e-05,
                    "z": 0.00017487337754573673
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00034901179606094956,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 1.2511908607848454e-05,
                    "y": -1.0076993021357339e-05,
                    "z": -0.000348641857272014
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0010507776169106364,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0018310584127902985,
                        "pitch": 0.16384257376194,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -9.914835572999436e-06,
                    "y": -1.3967137419967912e-05,
                    "z": 0.001050637918524444
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00027257832698524,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": 2.3516826331615448e-05,
                    "y": -6.097186269471422e-05,
                    "z": 0.0002646286739036441
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00015999027527868748,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.5084519873198587e-05,
                    "y": 1.6520263670827262e-05,
                    "z": -0.00015841852291487157
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0008396102930419147,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.0003355087828822434,
                        "pitch": -0.199858158826828,
                        "yaw": -0.091796875
                    }
                },
                "velocity": {
                    "x": 5.11258804181125e-07,
                    "y": -2.134468377334997e-05,
                    "z": 0.0008393387543037534
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.52052549412474e-05,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 7.048249244689941e-06,
                    "y": 1.654476363910362e-05,
                    "z": 6.267629942158237e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.407931090914644e-06,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -7.849812355686936e-09,
                    "y": -5.90268518863013e-06,
                    "z": 5.987617441860493e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9715958833694458,
                "transform": {
                    "location": {
                        "x": -122.09312438964844,
                        "y": 4294.9931640625,
                        "z": 372.88372802734375
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.28039973974227905,
                        "yaw": 179.9107208251953
                    }
                },
                "velocity": {
                    "x": -1.9715709686279297,
                    "y": 0.007008450571447611,
                    "z": 0.007014112547039986
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2662443118169904e-05,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 7.645077857887372e-06,
                    "y": -2.3714731867130467e-07,
                    "z": 3.175423989887349e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004740219737868756,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 6.945952463865979e-06,
                    "y": -6.794222827011254e-06,
                    "z": -0.00047392238047905266
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00030159519519656897,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.20980973541736603,
                        "yaw": -0.081939697265625
                    }
                },
                "velocity": {
                    "x": 3.938228019251255e-06,
                    "y": -2.0138037143624388e-05,
                    "z": 0.0003008963540196419
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011022092076018453,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.3321533203125
                    },
                    "rotation": {
                        "roll": -3.0517683626385406e-05,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 6.7885962380387355e-06,
                    "y": -3.774993820115924e-05,
                    "z": 0.0011015416821464896
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00048035132931545377,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": 2.1908934286329895e-05,
                    "y": -5.018636329623405e-06,
                    "z": 0.00047982519026845694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1452893018722534,
                "transform": {
                    "location": {
                        "x": -111.26953125,
                        "y": 4294.93115234375,
                        "z": 372.8511962890625
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": 0.33823779225349426,
                        "yaw": 179.4315185546875
                    }
                },
                "velocity": {
                    "x": -1.1452555656433105,
                    "y": 0.008159235119819641,
                    "z": 0.0032492445316165686
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.026092529296875,
                "transform": {
                    "location": {
                        "x": -172.46046447753906,
                        "y": 4297.93505859375,
                        "z": 373.0764465332031
                    },
                    "rotation": {
                        "roll": 0.25095635652542114,
                        "pitch": 0.24282003939151764,
                        "yaw": 146.6916046142578
                    }
                },
                "velocity": {
                    "x": -6.113005638122559,
                    "y": 5.200799942016602,
                    "z": 0.03172389045357704
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8518550395965576,
                "transform": {
                    "location": {
                        "x": -133.6374969482422,
                        "y": 4295.0556640625,
                        "z": 372.9348449707031
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.22194015979766846,
                        "yaw": 179.65614318847656
                    }
                },
                "velocity": {
                    "x": -2.8517796993255615,
                    "y": 0.017090588808059692,
                    "z": 0.011702765710651875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.734318256378174,
                "transform": {
                    "location": {
                        "x": -144.65234375,
                        "y": 4295.1259765625,
                        "z": 372.9748229980469
                    },
                    "rotation": {
                        "roll": 6.402991402865155e-06,
                        "pitch": 0.2358464151620865,
                        "yaw": 179.6543731689453
                    }
                },
                "velocity": {
                    "x": -3.734241485595703,
                    "y": 0.019526859745383263,
                    "z": 0.01385539025068283
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.289367198944092,
                "transform": {
                    "location": {
                        "x": -156.7399139404297,
                        "y": 4295.1943359375,
                        "z": 373.0191955566406
                    },
                    "rotation": {
                        "roll": 0.00041049698484130204,
                        "pitch": 0.21763713657855988,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -5.289246082305908,
                    "y": 0.03135417774319649,
                    "z": 0.01727275736629963
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1370437890291214,
        "expert_target_speed": 8.72353895173806,
        "target_point": [
            12.54802442636776,
            -0.3400075636587844
        ],
        "target_point_next": [
            23.546421131735745,
            -0.5266925763421255
        ]
    },
    "955": {
        "acceleration": [
            1.4272880554199219,
            0.14232158660888672,
            0.0698656216263771
        ],
        "angular_velocity": [
            0.026840701699256897,
            -1.2086676359176636,
            1.5015099048614502
        ],
        "forward_vector": [
            -0.9999554753303528,
            -0.007037116680294275,
            0.006291348021477461
        ],
        "right_vector": [
            0.00703200651332736,
            -0.9999749660491943,
            -0.0008340072236023843
        ],
        "location": [
            -175.88717651367188,
            4292.0,
            373.0867614746094
        ],
        "rotation": [
            0.04778604954481125,
            0.3604700565338135,
            -179.59678649902344
        ],
        "velocity": [
            -8.463397979736328,
            -0.04071861132979393,
            0.0272369384765625
        ],
        "speed": 8.463495930684529,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.9099326652867172,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 12.821110725402832,
        "front_vehicle_info": {
            "id": 11476,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                -177.50350952148438,
                4279.28125,
                373.0450744628906
            ],
            "velocity": [
                3.778133759624325e-05,
                -1.2378859537420794e-05,
                6.86113025949453e-06
            ],
            "speed_kmh": 0.00014524296892484464,
            "color": "0,21,81"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001881979696918279,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": -0.015285962261259556,
                        "yaw": -90.00424194335938
                    }
                },
                "velocity": {
                    "x": 6.4620708144502714e-06,
                    "y": 1.650443266498769e-07,
                    "z": -0.00018808692402672023
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013793249381706119,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.11077880859375
                    },
                    "rotation": {
                        "roll": 0.000950150191783905,
                        "pitch": -0.04184173792600632,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -2.0302084521972574e-05,
                    "y": -1.1534155419212766e-05,
                    "z": 0.0013791272649541497
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012633784208446741,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -0.00019773628446273506,
                    "y": 1.3650422260980122e-05,
                    "z": 0.001247733598574996
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00032450424623675644,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 0.0001571219036122784,
                        "pitch": 0.1932055503129959,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 5.474473255162593e-06,
                    "y": -8.34498496260494e-06,
                    "z": 0.0003243507235310972
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.010086059570312,
                "transform": {
                    "location": {
                        "x": -174.35484313964844,
                        "y": 4238.82470703125,
                        "z": 372.9047546386719
                    },
                    "rotation": {
                        "roll": -0.001831066096201539,
                        "pitch": -0.23312117159366608,
                        "yaw": -88.94633483886719
                    }
                },
                "velocity": {
                    "x": 0.1647520214319229,
                    "y": -8.00832462310791,
                    "z": -0.03283160924911499
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003946195065509528,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 2.29194756684592e-06,
                    "y": 1.9922012143069878e-05,
                    "z": 0.00039410966564901173
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.000276239647064358,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": -1.6107149349409156e-05,
                    "y": -0.00017153019143734127,
                    "z": 0.00021593122801277786
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0012833315413445234,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0018310584127902985,
                        "pitch": 0.16384257376194,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 1.1346179235260934e-05,
                    "y": -2.9029697543592192e-06,
                    "z": 0.0012832781067118049
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.541545346612111e-05,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": -4.1097067878581583e-05,
                    "y": 2.9024731702520512e-05,
                    "z": 5.617905844701454e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004430697299540043,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.0050721357401926e-05,
                    "y": 1.6398969819420017e-05,
                    "z": 0.0004426520608831197
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.418413664097898e-05,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.200131356716156,
                        "yaw": -0.091827392578125
                    }
                },
                "velocity": {
                    "x": 2.164281795558054e-06,
                    "y": 2.5549716156092472e-06,
                    "z": 4.405707659316249e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0001401037588948384,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 3.3890455597429536e-06,
                    "y": 8.09265020507155e-06,
                    "z": -0.00013982877135276794
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.034526864415966e-05,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 3.778133759624325e-05,
                    "y": -1.2378859537420794e-05,
                    "z": 6.86113025949453e-06
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.3592238426208496,
                "transform": {
                    "location": {
                        "x": -122.77593231201172,
                        "y": 4294.99755859375,
                        "z": 372.8860778808594
                    },
                    "rotation": {
                        "roll": 0.00028434969135560095,
                        "pitch": 0.31748083233833313,
                        "yaw": 179.96958923339844
                    }
                },
                "velocity": {
                    "x": -3.3591368198394775,
                    "y": 0.020440759137272835,
                    "z": 0.012910814024508
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001038677990436554,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.2915544175484683e-05,
                    "y": -1.7154839042632375e-06,
                    "z": 0.0010385962668806314
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.330843461910263e-05,
                "transform": {
                    "location": {
                        "x": -231.525146484375,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0005524683510884643,
                        "pitch": 0.22184453904628754,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 7.601045126648387e-06,
                    "y": -3.29272461385699e-06,
                    "z": -6.276415660977364e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.735580245731398e-05,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.20980973541736603,
                        "yaw": -0.081939697265625
                    }
                },
                "velocity": {
                    "x": 1.0268203368468676e-05,
                    "y": -3.1096526072360575e-05,
                    "z": 5.8858931879512966e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0011747818207368255,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.3321533203125
                    },
                    "rotation": {
                        "roll": 0.00024393605417571962,
                        "pitch": 0.22163963317871094,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": -7.497072147089057e-06,
                    "y": 4.281936071492964e-06,
                    "z": 0.0011747500393539667
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013839977327734232,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -1.851464548963122e-05,
                    "y": -1.1611245099629741e-05,
                    "z": 0.0001366633950965479
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2107832431793213,
                "transform": {
                    "location": {
                        "x": -111.68851470947266,
                        "y": 4294.93408203125,
                        "z": 372.8529357910156
                    },
                    "rotation": {
                        "roll": -0.002777099609375,
                        "pitch": 0.3853660821914673,
                        "yaw": 179.44921875
                    }
                },
                "velocity": {
                    "x": -2.2107231616973877,
                    "y": 0.01456610206514597,
                    "z": 0.007332124747335911
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.920934200286865,
                "transform": {
                    "location": {
                        "x": -173.90194702148438,
                        "y": 4299.2763671875,
                        "z": 373.0816650390625
                    },
                    "rotation": {
                        "roll": 0.2703527510166168,
                        "pitch": 0.09178407490253448,
                        "yaw": 135.2256317138672
                    }
                },
                "velocity": {
                    "x": -4.948483943939209,
                    "y": 6.184953689575195,
                    "z": 0.007411479949951172
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00022643296688329428,
                "transform": {
                    "location": {
                        "x": -134.08108520507812,
                        "y": 4295.05859375,
                        "z": 372.9371032714844
                    },
                    "rotation": {
                        "roll": -0.0007934572058729827,
                        "pitch": 0.16522227227687836,
                        "yaw": 179.75941467285156
                    }
                },
                "velocity": {
                    "x": -0.00017699599266052246,
                    "y": -1.8966511561302468e-05,
                    "z": 0.00013994491018820554
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.368736743927002,
                "transform": {
                    "location": {
                        "x": -145.689208984375,
                        "y": 4295.13232421875,
                        "z": 372.9786682128906
                    },
                    "rotation": {
                        "roll": 0.00016616799985058606,
                        "pitch": 0.23801158368587494,
                        "yaw": 179.67674255371094
                    }
                },
                "velocity": {
                    "x": -4.368650913238525,
                    "y": 0.022363610565662384,
                    "z": 0.01582375541329384
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.190911769866943,
                "transform": {
                    "location": {
                        "x": -158.064453125,
                        "y": 4295.20263671875,
                        "z": 373.0238952636719
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.20035675168037415,
                        "yaw": 179.66897583007812
                    }
                },
                "velocity": {
                    "x": -5.190793514251709,
                    "y": 0.030188878998160362,
                    "z": 0.017740078270435333
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.14478281140327454,
        "expert_target_speed": 8.901786765038187,
        "target_point": [
            10.436105780642631,
            -0.29122074183546326
        ],
        "target_point_next": [
            21.435159357614573,
            -0.43405558881142803
        ]
    },
    "960": {
        "acceleration": [
            0.527801513671875,
            0.1401420533657074,
            -0.018354617059230804
        ],
        "angular_velocity": [
            -0.12214735150337219,
            0.08950001746416092,
            -3.655500888824463
        ],
        "forward_vector": [
            -0.999995768070221,
            -0.0020979903638362885,
            0.002027033129706979
        ],
        "right_vector": [
            0.0020963193383067846,
            -0.9999974370002747,
            -0.0008260391768999398
        ],
        "location": [
            -177.92788696289062,
            4291.99365234375,
            373.0941467285156
        ],
        "rotation": [
            0.04732866212725639,
            0.11614052951335907,
            -179.87979125976562
        ],
        "velocity": [
            -7.993694305419922,
            -0.0046604955568909645,
            0.019879207015037537
        ],
        "speed": 7.993695664004336,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 43.59734344482422,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                5.101375336380443e-06,
                -1.2911750673083588e-05,
                0.0002466041478328407
            ],
            "speed_kmh": 0.0008891806375034826,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000426612445153296,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": -0.015285962261259556,
                        "yaw": -90.00424194335938
                    }
                },
                "velocity": {
                    "x": -1.4220439879863989e-05,
                    "y": 3.3184815038111992e-06,
                    "z": -0.0004263624723535031
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0013015053700655699,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.1107482910156
                    },
                    "rotation": {
                        "roll": -0.0014343250077217817,
                        "pitch": -0.04162317141890526,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": 1.0217239605481154e-06,
                    "y": -2.3618385966983624e-06,
                    "z": 0.0013015028089284897
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0005823278916068375,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 3.701455716509372e-05,
                    "y": -4.518860805546865e-05,
                    "z": 0.0005793907912448049
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009952125838026404,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": 0.0001571219036122784,
                        "pitch": 0.1932055503129959,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -1.1962098142248578e-05,
                    "y": -1.041818359226454e-05,
                    "z": 0.0009950861567631364
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.828887939453125,
                "transform": {
                    "location": {
                        "x": -174.31491088867188,
                        "y": 4236.955078125,
                        "z": 372.89739990234375
                    },
                    "rotation": {
                        "roll": -0.0009155211737379432,
                        "pitch": -0.2551212012767792,
                        "yaw": -88.73262786865234
                    }
                },
                "velocity": {
                    "x": 0.16090096533298492,
                    "y": -6.826930999755859,
                    "z": -0.028924517333507538
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00029608162003569305,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 2.1977721189614385e-06,
                    "y": 1.2434087693691254e-05,
                    "z": 0.0002958122349809855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.02645881776698e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 2.958651566586923e-05,
                    "y": 2.5248540623579174e-05,
                    "z": 7.021077908575535e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0016232149209827185,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0015869115013629198,
                        "pitch": 0.16385622322559357,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 5.433880687633064e-06,
                    "y": 1.2564584721985739e-05,
                    "z": 0.0016231571789830923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.158469427144155e-05,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0009497627033852041,
                        "pitch": -0.23684363067150116,
                        "yaw": -0.2820128798484802
                    }
                },
                "velocity": {
                    "x": -3.1613297323929146e-05,
                    "y": -6.363684224197641e-05,
                    "z": 4.008757969131693e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.445435378234833e-05,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 2.632625410114997e-06,
                    "y": -2.0746503651025705e-05,
                    "z": 8.182413876056671e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003885776095557958,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.00044675671961158514,
                        "pitch": -0.20032261312007904,
                        "yaw": -0.09185791015625
                    }
                },
                "velocity": {
                    "x": 2.385295920248609e-05,
                    "y": -5.574384704232216e-05,
                    "z": 0.00038381796912290156
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6782032111659646e-05,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 7.390081918856595e-06,
                    "y": 1.2204551239847206e-05,
                    "z": -3.390211713849567e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002169799554394558,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 5.943207725067623e-05,
                    "y": -3.494301563478075e-05,
                    "z": -0.00020573554502334446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.509985446929932,
                "transform": {
                    "location": {
                        "x": -123.7723388671875,
                        "y": 4295.0009765625,
                        "z": 372.8900451660156
                    },
                    "rotation": {
                        "roll": 0.0003046939673367888,
                        "pitch": 0.3060266077518463,
                        "yaw": 179.73255920410156
                    }
                },
                "velocity": {
                    "x": -4.509891033172607,
                    "y": 0.022516820579767227,
                    "z": 0.01851460337638855
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002469946048222482,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 5.101375336380443e-06,
                    "y": -1.2911750673083588e-05,
                    "z": 0.0002466041478328407
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.17275187373161316,
                "transform": {
                    "location": {
                        "x": -231.52780151367188,
                        "y": 4292.4853515625,
                        "z": 373.2899475097656
                    },
                    "rotation": {
                        "roll": 0.0003726233553607017,
                        "pitch": 0.22299882769584656,
                        "yaw": 179.66265869140625
                    }
                },
                "velocity": {
                    "x": -0.1727481186389923,
                    "y": -0.0010741442674770951,
                    "z": -0.0003808212059084326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00012963934568688273,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.20980973541736603,
                        "yaw": -0.081939697265625
                    }
                },
                "velocity": {
                    "x": 1.1923238162125926e-05,
                    "y": -1.7662065943113703e-07,
                    "z": -0.00012908974895253778
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007708482444286346,
                "transform": {
                    "location": {
                        "x": -232.26467895507812,
                        "y": 4295.69287109375,
                        "z": 373.33209228515625
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": 0.22197429835796356,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 2.2042802811483853e-05,
                    "y": 1.7672217609288055e-06,
                    "z": 0.0007705309544689953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00022329478815663606,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": 5.550687092181761e-06,
                    "y": -1.9150600110151572e-06,
                    "z": 0.00022321756114251912
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.458238959312439,
                "transform": {
                    "location": {
                        "x": -112.22811889648438,
                        "y": 4294.93798828125,
                        "z": 372.85479736328125
                    },
                    "rotation": {
                        "roll": 0.0014500090619549155,
                        "pitch": 0.2039152830839157,
                        "yaw": 179.35777282714844
                    }
                },
                "velocity": {
                    "x": -1.4581761360168457,
                    "y": 0.012049958109855652,
                    "z": 0.0061855316162109375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.118241310119629,
                "transform": {
                    "location": {
                        "x": -175.0925750732422,
                        "y": 4300.88916015625,
                        "z": 373.0842590332031
                    },
                    "rotation": {
                        "roll": 0.283377081155777,
                        "pitch": 0.021453622728586197,
                        "yaw": 125.0372085571289
                    }
                },
                "velocity": {
                    "x": -4.144398212432861,
                    "y": 6.980669975280762,
                    "z": 0.006733903661370277
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8018145561218262,
                "transform": {
                    "location": {
                        "x": -134.19593811035156,
                        "y": 4295.05908203125,
                        "z": 372.9372253417969
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": 0.21651698648929596,
                        "yaw": 179.77330017089844
                    }
                },
                "velocity": {
                    "x": -0.8017991185188293,
                    "y": 0.004472075030207634,
                    "z": 0.002170515013858676
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.019280433654785,
                "transform": {
                    "location": {
                        "x": -146.7060089111328,
                        "y": 4295.13818359375,
                        "z": 372.9828186035156
                    },
                    "rotation": {
                        "roll": 0.0003602290234994143,
                        "pitch": 0.2079724222421646,
                        "yaw": 179.68435668945312
                    }
                },
                "velocity": {
                    "x": -4.019196033477783,
                    "y": 0.02206467278301716,
                    "z": 0.013787355273962021
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.014015197753906,
                "transform": {
                    "location": {
                        "x": -159.32960510253906,
                        "y": 4295.21044921875,
                        "z": 373.0283203125
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": 0.19151850044727325,
                        "yaw": 179.68624877929688
                    }
                },
                "velocity": {
                    "x": -5.01390266418457,
                    "y": 0.028922544792294502,
                    "z": 0.017020130529999733
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.15535494685173035,
        "expert_target_speed": 8.551138675426417,
        "target_point": [
            8.39669756998265,
            -0.24173868561500245
        ],
        "target_point_next": [
            19.396322458763642,
            -0.33024681360133873
        ]
    },
    "965": {
        "acceleration": [
            -2.790679931640625,
            0.14018115401268005,
            0.01099415123462677
        ],
        "angular_velocity": [
            0.3251015245914459,
            0.8629891872406006,
            1.3727898597717285
        ],
        "forward_vector": [
            -0.9999879002571106,
            0.0015586756635457277,
            0.004667861387133598
        ],
        "right_vector": [
            -0.0015652062138542533,
            -0.9999978542327881,
            -0.001395723083987832
        ],
        "location": [
            -179.9705352783203,
            4291.99658203125,
            373.1000061035156
        ],
        "rotation": [
            0.07996994256973267,
            0.2674497067928314,
            179.9106903076172
        ],
        "velocity": [
            -8.438693046569824,
            0.02876993827521801,
            0.027560176327824593
        ],
        "speed": 8.438742088935664,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 41.55476379394531,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                1.3129263606970198e-05,
                6.038974788680207e-06,
                0.0012619575718417764
            ],
            "speed_kmh": 0.004543345138596632,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.0275672138959635e-05,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": -0.015285962261259556,
                        "yaw": -90.00424194335938
                    }
                },
                "velocity": {
                    "x": 2.4941468836914282e-06,
                    "y": -1.2801726825273363e-06,
                    "z": 9.885839972412214e-06
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0015457229455932975,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.1107482910156
                    },
                    "rotation": {
                        "roll": -0.0014343250077217817,
                        "pitch": -0.04162317141890526,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -1.3174299056117889e-05,
                    "y": -3.6731548789248336e-06,
                    "z": 0.0015456624096259475
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00027537322603166103,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -6.521077739307657e-05,
                    "y": 3.0628601962234825e-05,
                    "z": 0.00026578159304335713
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005378091591410339,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.0003051724343094975,
                        "pitch": 0.19301430881023407,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 6.637783371843398e-07,
                    "y": -9.039566066348925e-06,
                    "z": 0.0005377327324822545
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9576778411865234,
                "transform": {
                    "location": {
                        "x": -174.28428649902344,
                        "y": 4235.666015625,
                        "z": 372.8923645019531
                    },
                    "rotation": {
                        "roll": 0.002982861828058958,
                        "pitch": -0.30966025590896606,
                        "yaw": -88.8770751953125
                    }
                },
                "velocity": {
                    "x": 0.05457805469632149,
                    "y": -2.957143545150757,
                    "z": -0.013493652455508709
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.335642971564084e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.446500391466543e-05,
                    "y": -1.9874732970492914e-05,
                    "z": 9.006210166262463e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00015369756147265434,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 3.7304722354747355e-05,
                    "y": -1.0750690307759214e-05,
                    "z": -0.00014871355961076915
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013580118538811803,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0011291468981653452,
                        "pitch": 0.16403381526470184,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -6.930842118890723e-06,
                    "y": -1.3660211152455304e-05,
                    "z": 0.0013579254737123847
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.993936818209477e-05,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.0388679584139027e-05,
                    "y": 3.4131539905501995e-06,
                    "z": -4.872746649198234e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00010945969552267343,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.000956206233240664,
                        "pitch": -0.20022697746753693,
                        "yaw": -0.09185791015625
                    }
                },
                "velocity": {
                    "x": 2.1402536276582396e-06,
                    "y": -1.845716542447917e-05,
                    "z": 0.00010787111386889592
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.16186807746999e-05,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 6.622113232879201e-06,
                    "y": -6.792443855374586e-06,
                    "z": 6.088408554205671e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00026045821141451597,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -3.535078212735243e-05,
                    "y": 6.305072474788176e-06,
                    "z": 0.00025797102716751397
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0018061002483591437,
                "transform": {
                    "location": {
                        "x": -124.330078125,
                        "y": 4295.001953125,
                        "z": 372.8941650390625
                    },
                    "rotation": {
                        "roll": 0.0002462963166180998,
                        "pitch": 0.010457019321620464,
                        "yaw": 179.4828338623047
                    }
                },
                "velocity": {
                    "x": -4.348456968727987e-06,
                    "y": -3.789366746786982e-05,
                    "z": -0.0018056974513456225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012620403431355953,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.3129263606970198e-05,
                    "y": 6.038974788680207e-06,
                    "z": 0.0012619575718417764
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1427733898162842,
                "transform": {
                    "location": {
                        "x": -231.7050018310547,
                        "y": 4292.48486328125,
                        "z": 373.2904968261719
                    },
                    "rotation": {
                        "roll": 0.0002466445730533451,
                        "pitch": 0.24094173312187195,
                        "yaw": 179.74266052246094
                    }
                },
                "velocity": {
                    "x": -1.1427444219589233,
                    "y": -0.0074446797370910645,
                    "z": 0.003285846672952175
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0001506076514488086,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.20980973541736603,
                        "yaw": -0.081939697265625
                    }
                },
                "velocity": {
                    "x": 1.975167469936423e-05,
                    "y": 1.0340893368265824e-06,
                    "z": -0.00014930327597539872
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.5101144313812256,
                "transform": {
                    "location": {
                        "x": -232.28515625,
                        "y": 4295.69287109375,
                        "z": 373.3319396972656
                    },
                    "rotation": {
                        "roll": -0.0007019042386673391,
                        "pitch": 0.25714296102523804,
                        "yaw": 179.6651611328125
                    }
                },
                "velocity": {
                    "x": -0.5101053714752197,
                    "y": -0.0008887940202839673,
                    "z": 0.002897243481129408
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004984242259524763,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -1.709333105281985e-06,
                    "y": -2.0643397874664515e-05,
                    "z": 0.0004979936056770384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7967671751976013,
                "transform": {
                    "location": {
                        "x": -112.32733917236328,
                        "y": 4294.9384765625,
                        "z": 372.8551940917969
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": 0.16433434188365936,
                        "yaw": 179.3418426513672
                    }
                },
                "velocity": {
                    "x": -0.7967372536659241,
                    "y": 0.0062246620655059814,
                    "z": 0.0029864502139389515
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.009688377380371,
                "transform": {
                    "location": {
                        "x": -176.0184326171875,
                        "y": 4302.6708984375,
                        "z": 373.0858154296875
                    },
                    "rotation": {
                        "roll": 0.2732813358306885,
                        "pitch": 0.05938849225640297,
                        "yaw": 115.97763061523438
                    }
                },
                "velocity": {
                    "x": -2.904449701309204,
                    "y": 7.464529037475586,
                    "z": 0.009206361137330532
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5659732818603516,
                "transform": {
                    "location": {
                        "x": -134.5000762939453,
                        "y": 4295.0615234375,
                        "z": 372.93804931640625
                    },
                    "rotation": {
                        "roll": 0.00021031701180618256,
                        "pitch": 0.23743785917758942,
                        "yaw": 179.83230590820312
                    }
                },
                "velocity": {
                    "x": -1.5659469366073608,
                    "y": 0.006944482680410147,
                    "z": 0.005855045281350613
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.711236476898193,
                "transform": {
                    "location": {
                        "x": -147.79530334472656,
                        "y": 4295.14404296875,
                        "z": 372.98651123046875
                    },
                    "rotation": {
                        "roll": 0.0007552223396487534,
                        "pitch": 0.2315092533826828,
                        "yaw": 179.68409729003906
                    }
                },
                "velocity": {
                    "x": -4.711132526397705,
                    "y": 0.025907929986715317,
                    "z": 0.017531633377075195
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.751239776611328,
                "transform": {
                    "location": {
                        "x": -160.55343627929688,
                        "y": 4295.21728515625,
                        "z": 373.0322570800781
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.1902070939540863,
                        "yaw": 179.64349365234375
                    }
                },
                "velocity": {
                    "x": -4.751133918762207,
                    "y": 0.02675713039934635,
                    "z": 0.01710459589958191
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.14559808373451233,
        "expert_target_speed": 8.869093796807203,
        "target_point": [
            17.35474990945047,
            -0.2595776535062004
        ],
        "target_point_next": [
            17.35474990945047,
            -0.2595776535062004
        ]
    },
    "970": {
        "acceleration": [
            -1.1084747314453125,
            0.1182517409324646,
            0.044308826327323914
        ],
        "angular_velocity": [
            0.2872152030467987,
            0.08620482683181763,
            -3.283552646636963
        ],
        "forward_vector": [
            -0.9999476671218872,
            0.006216431502252817,
            0.008128076791763306
        ],
        "right_vector": [
            -0.006226945668458939,
            -0.9999797940254211,
            -0.0012688918504863977
        ],
        "location": [
            -182.1864013671875,
            4292.00830078125,
            373.1070251464844
        ],
        "rotation": [
            0.07270456850528717,
            0.4657095968723297,
            179.64381408691406
        ],
        "velocity": [
            -9.163213729858398,
            0.07141602039337158,
            0.03506304696202278
        ],
        "speed": 9.163492025807317,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.1445003157642075,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 39.91244125366211,
        "front_vehicle_info": {
            "id": 11477,
            "type": "vehicle.chevrolet.impala",
            "location": [
                -221.9383544921875,
                4295.5810546875,
                373.2510070800781
            ],
            "velocity": [
                5.041025360696949e-06,
                7.158927473938093e-06,
                -5.027838415117003e-05
            ],
            "speed_kmh": 0.00018372624220245538,
            "color": "0,12,49"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000379840872483328,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": -0.015285962261259556,
                        "yaw": -90.00424194335938
                    }
                },
                "velocity": {
                    "x": -8.700324542587623e-06,
                    "y": 9.096413577935891e-07,
                    "z": 0.00037974011502228677
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0014767583925276995,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.11077880859375
                    },
                    "rotation": {
                        "roll": -0.0011901824036613107,
                        "pitch": -0.04180758446455002,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -1.6503603546880186e-05,
                    "y": -6.846179985586787e-06,
                    "z": 0.001476650359109044
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0010411886032670736,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -1.089177567337174e-05,
                    "y": -7.045050733722746e-05,
                    "z": 0.00103874527849257
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.414401701069437e-05,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864807128906
                    },
                    "rotation": {
                        "roll": -0.0003051724343094975,
                        "pitch": 0.19301430881023407,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": -5.151130366698453e-08,
                    "y": -6.692446731904056e-06,
                    "z": 4.3633732275338843e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001762097585014999,
                "transform": {
                    "location": {
                        "x": -174.28077697753906,
                        "y": 4235.470703125,
                        "z": 372.8916015625
                    },
                    "rotation": {
                        "roll": 0.0017187915509566665,
                        "pitch": -0.31051403284072876,
                        "yaw": -88.90979766845703
                    }
                },
                "velocity": {
                    "x": -5.86198948440142e-05,
                    "y": 7.503103552153334e-05,
                    "z": 0.00175952329300344
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00033369878656230867,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 8.379295650229324e-06,
                    "y": -1.4764675142941996e-05,
                    "z": 0.0003332666528876871
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00011332165740896016,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 1.8911435972768231e-06,
                    "y": -7.493376324418932e-05,
                    "z": -8.498913666699082e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000996195711195469,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.001220707781612873,
                        "pitch": 0.16373328864574432,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 4.562998947221786e-05,
                    "y": -1.046396755555179e-05,
                    "z": 0.000995095120742917
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00024768811999820173,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.646608143346384e-05,
                    "y": -1.4949979458833695e-06,
                    "z": 0.000247135671088472
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019066245295107365,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.000956206233240664,
                        "pitch": -0.20022697746753693,
                        "yaw": -0.09185791015625
                    }
                },
                "velocity": {
                    "x": 1.873187648016028e-05,
                    "y": -3.358064714120701e-05,
                    "z": 0.00018674481543712318
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.103506919112988e-05,
                "transform": {
                    "location": {
                        "x": -221.9383544921875,
                        "y": 4295.5810546875,
                        "z": 373.2510070800781
                    },
                    "rotation": {
                        "roll": 0.004089511930942535,
                        "pitch": 0.2207653671503067,
                        "yaw": -179.17672729492188
                    }
                },
                "velocity": {
                    "x": 5.041025360696949e-06,
                    "y": 7.158927473938093e-06,
                    "z": -5.027838415117003e-05
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00012886118202004582,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 5.9379970480222255e-05,
                    "y": -2.2026131773600355e-05,
                    "z": -0.00011222330795135349
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3312671184539795,
                "transform": {
                    "location": {
                        "x": -124.51398468017578,
                        "y": 4295.00244140625,
                        "z": 372.8936767578125
                    },
                    "rotation": {
                        "roll": -0.0027770993765443563,
                        "pitch": 0.22765019536018372,
                        "yaw": 179.43405151367188
                    }
                },
                "velocity": {
                    "x": -1.3312500715255737,
                    "y": 0.0027702688239514828,
                    "z": 0.006131963804364204
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0006425840547308326,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 1.0550208571658004e-05,
                    "y": -4.996024472347926e-06,
                    "z": 0.0006424780003726482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8988761901855469,
                "transform": {
                    "location": {
                        "x": -232.08914184570312,
                        "y": 4292.4833984375,
                        "z": 373.29193115234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.24118763208389282,
                        "yaw": 179.86932373046875
                    }
                },
                "velocity": {
                    "x": -1.8988208770751953,
                    "y": -0.01283283531665802,
                    "z": 0.0067506218329072
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": -0.20980973541736603,
                        "yaw": -0.081939697265625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4997128248214722,
                "transform": {
                    "location": {
                        "x": -232.56320190429688,
                        "y": 4295.69287109375,
                        "z": 373.33251953125
                    },
                    "rotation": {
                        "roll": -0.0026855473406612873,
                        "pitch": 0.3162923753261566,
                        "yaw": 179.714599609375
                    }
                },
                "velocity": {
                    "x": -1.4996986389160156,
                    "y": -0.0026800637133419514,
                    "z": 0.005958776455372572
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6208781239110976e-05,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -1.7642758393776603e-05,
                    "y": -3.740824695341871e-06,
                    "z": 3.1397692509926856e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6999895572662354,
                "transform": {
                    "location": {
                        "x": -112.6449966430664,
                        "y": 4294.9404296875,
                        "z": 372.8566589355469
                    },
                    "rotation": {
                        "roll": -0.0025939936749637127,
                        "pitch": 0.3342284560203552,
                        "yaw": 179.41163635253906
                    }
                },
                "velocity": {
                    "x": -1.6999397277832031,
                    "y": 0.011369007639586926,
                    "z": 0.006328372750431299
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.004958152770996,
                "transform": {
                    "location": {
                        "x": -176.6574249267578,
                        "y": 4304.556640625,
                        "z": 373.08843994140625
                    },
                    "rotation": {
                        "roll": 0.26056939363479614,
                        "pitch": 0.07021433860063553,
                        "yaw": 107.31238555908203
                    }
                },
                "velocity": {
                    "x": -1.7422038316726685,
                    "y": 7.813065052032471,
                    "z": 0.010010261088609695
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.421909809112549,
                "transform": {
                    "location": {
                        "x": -135.00460815429688,
                        "y": 4295.06396484375,
                        "z": 372.93994140625
                    },
                    "rotation": {
                        "roll": 0.00019091945432592183,
                        "pitch": 0.24056607484817505,
                        "yaw": 179.79591369628906
                    }
                },
                "velocity": {
                    "x": -2.4218521118164062,
                    "y": 0.013870393857359886,
                    "z": 0.009345493279397488
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.7305397987365723,
                "transform": {
                    "location": {
                        "x": -148.8796844482422,
                        "y": 4295.14990234375,
                        "z": 372.990966796875
                    },
                    "rotation": {
                        "roll": 0.00035259718424640596,
                        "pitch": 0.19196245074272156,
                        "yaw": 179.68472290039062
                    }
                },
                "velocity": {
                    "x": -3.7304558753967285,
                    "y": 0.02059009112417698,
                    "z": 0.014209308661520481
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.629306316375732,
                "transform": {
                    "location": {
                        "x": -161.72140502929688,
                        "y": 4295.23779296875,
                        "z": 373.0364074707031
                    },
                    "rotation": {
                        "roll": 0.018039347603917122,
                        "pitch": 0.19237226247787476,
                        "yaw": 179.07667541503906
                    }
                },
                "velocity": {
                    "x": -4.624109745025635,
                    "y": 0.2186431586742401,
                    "z": 0.01683829352259636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12527760863304138,
        "expert_target_speed": 9.358327050436284,
        "target_point": [
            15.139874576757165,
            -0.18079641807551114
        ],
        "target_point_next": [
            15.139874576757165,
            -0.18079641807551114
        ]
    },
    "975": {
        "acceleration": [
            -4.693317413330078,
            -0.1530175656080246,
            -0.011097118258476257
        ],
        "angular_velocity": [
            -0.6529174447059631,
            0.6612815856933594,
            1.9654512405395508
        ],
        "forward_vector": [
            -0.9999255537986755,
            0.005385438911616802,
            0.010949153453111649
        ],
        "right_vector": [
            -0.005382244940847158,
            -0.9999854564666748,
            0.0003211578878108412
        ],
        "location": [
            -184.59375,
            4292.02294921875,
            373.114990234375
        ],
        "rotation": [
            -0.0184020958840847,
            0.6273528337478638,
            179.69142150878906
        ],
        "velocity": [
            -10.291046142578125,
            0.04225974529981613,
            0.03827585279941559
        ],
        "speed": 10.291132911139808,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": true
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 36.93150329589844,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.52281188964844,
                4292.42529296875,
                373.2511901855469
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00021590388496406376,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": -0.015285962261259556,
                        "yaw": -90.00424194335938
                    }
                },
                "velocity": {
                    "x": -1.1344395716150757e-05,
                    "y": 4.383066880109254e-06,
                    "z": -0.00021556108549702913
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012207640102133155,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.1107482910156
                    },
                    "rotation": {
                        "roll": -0.0010681126732379198,
                        "pitch": -0.04162317141890526,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -3.0176835934980772e-05,
                    "y": 4.3313252717780415e-06,
                    "z": 0.0012203833321109414
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004673613584600389,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": -9.952788968803361e-05,
                    "y": 2.2634741981164552e-05,
                    "z": 0.00045607949141412973
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009348345920443535,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": 0.00026448455173522234,
                        "pitch": 0.1932055503129959,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 2.5619006009947043e-06,
                    "y": -1.0994523108820431e-05,
                    "z": 0.0009347664308734238
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012692298041656613,
                "transform": {
                    "location": {
                        "x": -174.28077697753906,
                        "y": 4235.47021484375,
                        "z": 372.89111328125
                    },
                    "rotation": {
                        "roll": 0.0003538657911121845,
                        "pitch": -0.24762167036533356,
                        "yaw": -88.9097900390625
                    }
                },
                "velocity": {
                    "x": -1.055108350556111e-05,
                    "y": 1.0666772141121328e-05,
                    "z": 0.0012691410956904292
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.529826350742951e-05,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.3948045307188295e-05,
                    "y": 3.8211351238715e-06,
                    "z": -6.367663445416838e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.376440483611077e-05,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 1.1145360076625366e-05,
                    "y": -4.242036993673537e-06,
                    "z": 4.210830229567364e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0015112084802240133,
                "transform": {
                    "location": {
                        "x": -177.486083984375,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.001220707781612873,
                        "pitch": 0.16373328864574432,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": 2.011251808653469e-06,
                    "y": -1.0987500900228042e-05,
                    "z": 0.0015111671527847648
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0001542371028335765,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.5584453649353236e-05,
                    "y": -2.7266432311989774e-07,
                    "z": -0.0001534475013613701
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0002585643087513745,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.00033947746851481497,
                        "pitch": -0.20019283890724182,
                        "yaw": -0.091888427734375
                    }
                },
                "velocity": {
                    "x": 1.431521013728343e-05,
                    "y": 2.4827781089697964e-05,
                    "z": 0.0002569711359683424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.07752742618322372,
                "transform": {
                    "location": {
                        "x": -221.94163513183594,
                        "y": 4295.5810546875,
                        "z": 373.2509765625
                    },
                    "rotation": {
                        "roll": 0.003446617629379034,
                        "pitch": 0.22225435078144073,
                        "yaw": -179.17889404296875
                    }
                },
                "velocity": {
                    "x": -0.07751297205686569,
                    "y": 0.0006133735296316445,
                    "z": 0.0013654232025146484
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8361784219741821,
                "transform": {
                    "location": {
                        "x": -124.8539810180664,
                        "y": 4295.00439453125,
                        "z": 372.8947448730469
                    },
                    "rotation": {
                        "roll": -0.0012817379320040345,
                        "pitch": 0.2530994713306427,
                        "yaw": 179.47657775878906
                    }
                },
                "velocity": {
                    "x": -1.8361413478851318,
                    "y": 0.009228358045220375,
                    "z": 0.007145852781832218
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -221.52281188964844,
                        "y": 4292.42529296875,
                        "z": 373.2511901855469
                    },
                    "rotation": {
                        "roll": 0.00017475997447036207,
                        "pitch": 0.22211091220378876,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.732093334197998,
                "transform": {
                    "location": {
                        "x": -232.673828125,
                        "y": 4292.48095703125,
                        "z": 373.2941589355469
                    },
                    "rotation": {
                        "roll": 0.000721297285053879,
                        "pitch": 0.24055242538452148,
                        "yaw": -179.9794158935547
                    }
                },
                "velocity": {
                    "x": -2.7320048809051514,
                    "y": -0.019368436187505722,
                    "z": 0.010396537370979786
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00019812157552223653,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 6.147196108940989e-05,
                        "pitch": -0.20972095429897308,
                        "yaw": -0.082000732421875
                    }
                },
                "velocity": {
                    "x": 8.434541086899117e-06,
                    "y": -4.588237516145455e-06,
                    "z": -0.0001978887739824131
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.509087324142456,
                "transform": {
                    "location": {
                        "x": -233.0614013671875,
                        "y": 4295.693359375,
                        "z": 373.33428955078125
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.32832035422325134,
                        "yaw": 179.82070922851562
                    }
                },
                "velocity": {
                    "x": -2.509063243865967,
                    "y": -0.005142546258866787,
                    "z": 0.009751014411449432
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014010352606419474,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -2.136189505108632e-05,
                    "y": -1.1736191481759306e-05,
                    "z": 0.00013796713028568774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -113.24976348876953,
                        "y": 4294.95654296875,
                        "z": 372.8592834472656
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": 0.22637978196144104,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076416015625,
                "transform": {
                    "location": {
                        "x": -177.0320281982422,
                        "y": 4306.5322265625,
                        "z": 373.0911560058594
                    },
                    "rotation": {
                        "roll": 0.22376172244548798,
                        "pitch": 0.07378652691841125,
                        "yaw": 99.41856384277344
                    }
                },
                "velocity": {
                    "x": -0.7339646220207214,
                    "y": 8.042990684509277,
                    "z": 0.009893321432173252
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.132930040359497,
                "transform": {
                    "location": {
                        "x": -135.7028045654297,
                        "y": 4295.0673828125,
                        "z": 372.9427795410156
                    },
                    "rotation": {
                        "roll": -9.155266889138147e-05,
                        "pitch": 0.2391522377729416,
                        "yaw": 179.75193786621094
                    }
                },
                "velocity": {
                    "x": -3.132856607437134,
                    "y": 0.018429117277264595,
                    "z": 0.010950803756713867
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.409226417541504,
                "transform": {
                    "location": {
                        "x": -149.63702392578125,
                        "y": 4295.15380859375,
                        "z": 372.993896484375
                    },
                    "rotation": {
                        "roll": 0.0004914379678666592,
                        "pitch": 0.1659257709980011,
                        "yaw": 179.68353271484375
                    }
                },
                "velocity": {
                    "x": -2.4091739654541016,
                    "y": 0.01308925449848175,
                    "z": 0.009063529781997204
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.4457621574401855,
                "transform": {
                    "location": {
                        "x": -162.855224609375,
                        "y": 4295.2890625,
                        "z": 373.04034423828125
                    },
                    "rotation": {
                        "roll": 0.003090933430939913,
                        "pitch": 0.19237910211086273,
                        "yaw": 177.88107299804688
                    }
                },
                "velocity": {
                    "x": -4.437958717346191,
                    "y": 0.26277589797973633,
                    "z": 0.016461342573165894
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.33362525701522827,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11899467557668686,
        "expert_target_speed": 10.0,
        "target_point": [
            12.732326564480775,
            -0.19168851220285982
        ],
        "target_point_next": [
            12.732326564480775,
            -0.19168851220285982
        ]
    },
    "980": {
        "acceleration": [
            1.6887474060058594,
            -0.25868311524391174,
            0.002494305372238159
        ],
        "angular_velocity": [
            -0.05106557160615921,
            -1.5327759981155396,
            -0.5195005536079407
        ],
        "forward_vector": [
            -0.9999713897705078,
            1.421728575223824e-05,
            0.00756792863830924
        ],
        "right_vector": [
            -6.788697646697983e-06,
            -0.9999995231628418,
            0.000981612829491496
        ],
        "location": [
            -187.20913696289062,
            4292.02685546875,
            373.1250305175781
        ],
        "rotation": [
            -0.0562438890337944,
            0.4336145222187042,
            179.9991912841797
        ],
        "velocity": [
            -10.38002872467041,
            -0.016511520370841026,
            0.0359685905277729
        ],
        "speed": 10.380041857106733,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 34.40074920654297,
        "front_vehicle_info": {
            "id": 11474,
            "type": "vehicle.ford.mustang",
            "location": [
                -221.6073455810547,
                4292.42529296875,
                373.25152587890625
            ],
            "velocity": [
                -0.8296528458595276,
                -0.005064709577709436,
                0.002681093057617545
            ],
            "speed_kmh": 2.9868214923308196,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 11498,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00041226850589737296,
                "transform": {
                    "location": {
                        "x": -174.4871826171875,
                        "y": 4334.619140625,
                        "z": 373.1208801269531
                    },
                    "rotation": {
                        "roll": -0.00036621137405745685,
                        "pitch": -0.015285962261259556,
                        "yaw": -90.00424194335938
                    }
                },
                "velocity": {
                    "x": -1.0995807315339334e-05,
                    "y": -2.2988044747762615e-06,
                    "z": -0.000412115448853001
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11497,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0012221382930874825,
                "transform": {
                    "location": {
                        "x": -174.48780822753906,
                        "y": 4324.59375,
                        "z": 373.1107482910156
                    },
                    "rotation": {
                        "roll": -0.0010681126732379198,
                        "pitch": -0.04162317141890526,
                        "yaw": -90.15129852294922
                    }
                },
                "velocity": {
                    "x": -2.2577140043722466e-05,
                    "y": 3.858059699268779e-06,
                    "z": 0.0012219236232340336
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11495,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014254135312512517,
                "transform": {
                    "location": {
                        "x": -174.49374389648438,
                        "y": 4315.3935546875,
                        "z": 373.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0006235653418116271,
                        "pitch": -0.06884830445051193,
                        "yaw": -90.2584228515625
                    }
                },
                "velocity": {
                    "x": 0.00012168496323283762,
                    "y": -9.982706615119241e-06,
                    "z": 0.0014201749581843615
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11492,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00023813724692445248,
                "transform": {
                    "location": {
                        "x": -177.4579620361328,
                        "y": 4260.666015625,
                        "z": 372.9864501953125
                    },
                    "rotation": {
                        "roll": 3.9553953683935106e-05,
                        "pitch": 0.1935470551252365,
                        "yaw": 90.07838439941406
                    }
                },
                "velocity": {
                    "x": 1.5731295206933282e-05,
                    "y": -9.811595191422384e-06,
                    "z": 0.00023741442419122905
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11490,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0001862545614130795,
                "transform": {
                    "location": {
                        "x": -174.28077697753906,
                        "y": 4235.4697265625,
                        "z": 372.89105224609375
                    },
                    "rotation": {
                        "roll": 3.616562025854364e-05,
                        "pitch": -0.2337290644645691,
                        "yaw": -88.90978240966797
                    }
                },
                "velocity": {
                    "x": -1.657366919971537e-05,
                    "y": -4.530101705313427e-06,
                    "z": 0.00018546037608757615
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11489,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002850323508027941,
                "transform": {
                    "location": {
                        "x": -211.73147583007812,
                        "y": 4302.19873046875,
                        "z": 373.2232360839844
                    },
                    "rotation": {
                        "roll": 0.0006602391367778182,
                        "pitch": -0.22133909165859222,
                        "yaw": -0.3865966498851776
                    }
                },
                "velocity": {
                    "x": 1.58470866153948e-05,
                    "y": 8.379778591915965e-06,
                    "z": 0.00028446808573789895
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 11488,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0003230581060051918,
                "transform": {
                    "location": {
                        "x": -209.88905334472656,
                        "y": 4298.94091796875,
                        "z": 373.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.22609974443912506,
                        "yaw": 0.006547406781464815
                    }
                },
                "velocity": {
                    "x": 6.858117558294907e-05,
                    "y": -7.98449109424837e-05,
                    "z": 0.0003054307890124619
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 11484,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00120367796625942,
                "transform": {
                    "location": {
                        "x": -177.48617553710938,
                        "y": 4270.0068359375,
                        "z": 373.0547180175781
                    },
                    "rotation": {
                        "roll": -0.0014038096414878964,
                        "pitch": 0.16402015089988708,
                        "yaw": 90.1703872680664
                    }
                },
                "velocity": {
                    "x": -1.0456449672346935e-05,
                    "y": -1.2212152796564624e-05,
                    "z": 0.0012035705149173737
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11483,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -108.52523040771484,
                        "y": 4301.60791015625,
                        "z": 372.8369445800781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.22924846410751343,
                        "yaw": -0.3386535048484802
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 11479,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.241940794396214e-05,
                "transform": {
                    "location": {
                        "x": -191.52757263183594,
                        "y": 4298.83642578125,
                        "z": 373.13421630859375
                    },
                    "rotation": {
                        "roll": 0.00019333092495799065,
                        "pitch": -0.1983896642923355,
                        "yaw": -0.221588134765625
                    }
                },
                "velocity": {
                    "x": 1.034434899338521e-05,
                    "y": 2.0313345885369927e-05,
                    "z": -2.305168891325593e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11478,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00032974121859297156,
                "transform": {
                    "location": {
                        "x": -191.97483825683594,
                        "y": 4302.09326171875,
                        "z": 373.1808776855469
                    },
                    "rotation": {
                        "roll": 0.0009170161210931838,
                        "pitch": -0.19998109340667725,
                        "yaw": -0.091888427734375
                    }
                },
                "velocity": {
                    "x": -2.7388705348130316e-06,
                    "y": 5.1685579819604754e-05,
                    "z": 0.00032565376022830606
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11477,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.45348215103149414,
                "transform": {
                    "location": {
                        "x": -221.9929656982422,
                        "y": 4295.58056640625,
                        "z": 373.25115966796875
                    },
                    "rotation": {
                        "roll": 0.005804793443530798,
                        "pitch": 0.23238351941108704,
                        "yaw": -179.2105712890625
                    }
                },
                "velocity": {
                    "x": -0.453474760055542,
                    "y": 0.0011316738091409206,
                    "z": 0.002325458452105522
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11476,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004864126967731863,
                "transform": {
                    "location": {
                        "x": -177.50350952148438,
                        "y": 4279.28125,
                        "z": 373.0450744628906
                    },
                    "rotation": {
                        "roll": -0.0043945154175162315,
                        "pitch": 0.15393196046352386,
                        "yaw": 88.7254638671875
                    }
                },
                "velocity": {
                    "x": -0.00011598020500969142,
                    "y": 3.251995804021135e-05,
                    "z": 0.00047126252320595086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11475,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.16996693611145,
                "transform": {
                    "location": {
                        "x": -125.26265716552734,
                        "y": 4294.99951171875,
                        "z": 372.896240234375
                    },
                    "rotation": {
                        "roll": -0.0024108877405524254,
                        "pitch": 0.26048973202705383,
                        "yaw": 178.96224975585938
                    }
                },
                "velocity": {
                    "x": -2.169924736022949,
                    "y": 0.008371874690055847,
                    "z": 0.010639962740242481
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11474,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.829672634601593,
                "transform": {
                    "location": {
                        "x": -221.6073455810547,
                        "y": 4292.42529296875,
                        "z": 373.25152587890625
                    },
                    "rotation": {
                        "roll": -0.00152587890625,
                        "pitch": 0.2373763769865036,
                        "yaw": 179.69309997558594
                    }
                },
                "velocity": {
                    "x": -0.8296528458595276,
                    "y": -0.005064709577709436,
                    "z": 0.002681093057617545
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11473,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.4339089393615723,
                "transform": {
                    "location": {
                        "x": -233.44647216796875,
                        "y": 4292.47607421875,
                        "z": 373.29718017578125
                    },
                    "rotation": {
                        "roll": 0.0011282971827313304,
                        "pitch": 0.2395620346069336,
                        "yaw": -179.82997131347656
                    }
                },
                "velocity": {
                    "x": -3.4337828159332275,
                    "y": -0.025902118533849716,
                    "z": 0.013976125046610832
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11481,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0003253796312492341,
                "transform": {
                    "location": {
                        "x": -201.052490234375,
                        "y": 4302.1376953125,
                        "z": 373.21331787109375
                    },
                    "rotation": {
                        "roll": 6.147196108940989e-05,
                        "pitch": -0.20972095429897308,
                        "yaw": -0.082000732421875
                    }
                },
                "velocity": {
                    "x": -4.014335445390316e-06,
                    "y": 4.5055930968374014e-05,
                    "z": 0.0003222200321033597
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11472,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8571510314941406,
                "transform": {
                    "location": {
                        "x": -233.86155700683594,
                        "y": 4295.69189453125,
                        "z": 373.3371276855469
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": 0.3598143458366394,
                        "yaw": 179.92562866210938
                    }
                },
                "velocity": {
                    "x": -3.8571159839630127,
                    "y": -0.007906932383775711,
                    "z": 0.014412907883524895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11496,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00040502811316400766,
                "transform": {
                    "location": {
                        "x": -177.39077758789062,
                        "y": 4251.01416015625,
                        "z": 372.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0002068813773803413,
                        "pitch": 0.20836856961250305,
                        "yaw": 90.57380676269531
                    }
                },
                "velocity": {
                    "x": -9.242910437023966e-07,
                    "y": -1.6053914805524983e-05,
                    "z": 0.0004047087859362364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11486,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -114.4989013671875,
                        "y": 4295.0029296875,
                        "z": 372.86474609375
                    },
                    "rotation": {
                        "roll": -5.2110614434663916e-11,
                        "pitch": 0.22637978196144104,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 11482,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -200.39804077148438,
                        "y": 4298.88916015625,
                        "z": 373.21087646484375
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": -0.20962531864643097,
                        "yaw": -0.23535160720348358
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 11494,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": -219.7957000732422,
                        "y": 4298.97509765625,
                        "z": 373.2535400390625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22091563045978546,
                        "yaw": 0.04964163526892662
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 11262,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.021503448486328,
                "transform": {
                    "location": {
                        "x": -177.20640563964844,
                        "y": 4308.53515625,
                        "z": 373.0939025878906
                    },
                    "rotation": {
                        "roll": 0.1044485867023468,
                        "pitch": 0.07586290687322617,
                        "yaw": 94.2126235961914
                    }
                },
                "velocity": {
                    "x": -0.42206504940986633,
                    "y": 8.010385513305664,
                    "z": 0.009892911650240421
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 11467,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8719661235809326,
                "transform": {
                    "location": {
                        "x": -136.58203125,
                        "y": 4295.07275390625,
                        "z": 372.9461975097656
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.23847603797912598,
                        "yaw": 179.7152862548828
                    }
                },
                "velocity": {
                    "x": -3.8718719482421875,
                    "y": 0.02301696315407753,
                    "z": 0.014128398150205612
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 11464,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.19245195388793945,
                "transform": {
                    "location": {
                        "x": -149.85922241210938,
                        "y": 4295.15673828125,
                        "z": 372.9950256347656
                    },
                    "rotation": {
                        "roll": 0.00046569612459279597,
                        "pitch": 0.13100984692573547,
                        "yaw": 179.82252502441406
                    }
                },
                "velocity": {
                    "x": -0.19244453310966492,
                    "y": 0.0008106722962111235,
                    "z": 0.0014842796372249722
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 11449,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.307552814483643,
                "transform": {
                    "location": {
                        "x": -163.94601440429688,
                        "y": 4295.34912109375,
                        "z": 373.0441589355469
                    },
                    "rotation": {
                        "roll": -0.005096435081213713,
                        "pitch": 0.1932123750448227,
                        "yaw": 177.1285400390625
                    }
                },
                "velocity": {
                    "x": -4.298907279968262,
                    "y": 0.2724432647228241,
                    "z": 0.013502206653356552
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.1474268138408661,
        "expert_target_speed": 10.0,
        "target_point": [
            10.115726197074132,
            -0.2562078938334284
        ],
        "target_point_next": [
            10.115726197074132,
            -0.2562078938334284
        ]
    }
}