{
    "0": {
        "acceleration": [
            -0.0029366009403020144,
            0.006234955508261919,
            -0.6187146902084351
        ],
        "angular_velocity": [
            0.019653374329209328,
            -0.022218827158212662,
            4.0547718526795506e-05
        ],
        "forward_vector": [
            -0.9999594688415527,
            0.006665686145424843,
            0.006045542657375336
        ],
        "right_vector": [
            -0.006665302440524101,
            -0.9999777674674988,
            8.362171502085403e-05
        ],
        "location": [
            733.07958984375,
            4286.78369140625,
            369.4612121582031
        ],
        "rotation": [
            -0.004791258834302425,
            0.346386194229126,
            179.61807250976562
        ],
        "velocity": [
            0.0007753425743430853,
            -0.0001567476720083505,
            0.14286646246910095
        ],
        "speed": 0.0007910284067396063,
        "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": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.45299842953681946,
                "transform": {
                    "location": {
                        "x": 642.491943359375,
                        "y": 4286.18115234375,
                        "z": 369.8810729980469
                    },
                    "rotation": {
                        "roll": -0.23165887594223022,
                        "pitch": 0.43796536326408386,
                        "yaw": 179.660888671875
                    }
                },
                "velocity": {
                    "x": 0.004485404584556818,
                    "y": 0.012166882865130901,
                    "z": 0.4528127908706665
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00482452567666769,
        "expert_target_speed": 10.0,
        "target_point": [
            51.54336635730816,
            0.03888316402752756
        ],
        "target_point_next": [
            102.5433292621658,
            0.07707386547628481
        ]
    },
    "5": {
        "acceleration": [
            -0.001956105465069413,
            0.0014793532900512218,
            -0.25962716341018677
        ],
        "angular_velocity": [
            -0.010767154395580292,
            -0.01548522524535656,
            0.00015191333659458905
        ],
        "forward_vector": [
            -0.9999598264694214,
            0.006665688473731279,
            0.0059871310368180275
        ],
        "right_vector": [
            -0.006665709428489208,
            -0.9999777674674988,
            1.651130151003599e-05
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48199462890625
        ],
        "rotation": [
            -0.000946044921875,
            0.3430393934249878,
            179.61807250976562
        ],
        "velocity": [
            0.00021039052808191627,
            -2.448943632771261e-05,
            0.042590320110321045
        ],
        "speed": 0.0002118110167064893,
        "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": 80.29515838623047,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                653.4404296875,
                4297.00537109375,
                370.13299560546875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4404296875,
                        "y": 4297.00537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "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": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 653.4212036132812,
                        "y": 4293.75537109375,
                        "z": 370.13299560546875
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5045189261436462,
                "transform": {
                    "location": {
                        "x": 762.8302001953125,
                        "y": 4285.6904296875,
                        "z": 369.3014221191406
                    },
                    "rotation": {
                        "roll": -0.0007324216421693563,
                        "pitch": 0.383897602558136,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.003318601753562689,
                    "y": 0.00029535844805650413,
                    "z": -0.5045079588890076
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6357187032699585,
                "transform": {
                    "location": {
                        "x": 747.9967651367188,
                        "y": 4286.4599609375,
                        "z": 369.4294738769531
                    },
                    "rotation": {
                        "roll": 0.0007713203667663038,
                        "pitch": 0.33871588110923767,
                        "yaw": 177.8912353515625
                    }
                },
                "velocity": {
                    "x": -0.0036576269194483757,
                    "y": 6.46749249426648e-05,
                    "z": -0.6357081532478333
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.43485963344573975,
                "transform": {
                    "location": {
                        "x": 718.1520385742188,
                        "y": 4286.8720703125,
                        "z": 369.58782958984375
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.33647558093070984,
                        "yaw": 179.6615447998047
                    }
                },
                "velocity": {
                    "x": -0.002469983883202076,
                    "y": -0.00010898907203227282,
                    "z": -0.43485260009765625
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.23282060027122498,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.7037658691406
                    },
                    "rotation": {
                        "roll": 0.001393489888869226,
                        "pitch": 0.33289656043052673,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": -0.0013229140313342214,
                    "y": 3.070899401791394e-05,
                    "z": -0.23281683027744293
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45631492137908936,
                "transform": {
                    "location": {
                        "x": 763.0471801757812,
                        "y": 4288.93310546875,
                        "z": 369.3104248046875
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.3814045786857605,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": -0.00308401882648468,
                    "y": 0.00024381028197240084,
                    "z": -0.4563044309616089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.45543402433395386,
                "transform": {
                    "location": {
                        "x": 748.1165161132812,
                        "y": 4289.70751953125,
                        "z": 369.40191650390625
                    },
                    "rotation": {
                        "roll": -0.0011596676195040345,
                        "pitch": 0.33302634954452515,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": -0.0026521566323935986,
                    "y": 0.00014246904174797237,
                    "z": -0.45542627573013306
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.2321363240480423,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.61663818359375
                    },
                    "rotation": {
                        "roll": 0.0024136954452842474,
                        "pitch": 0.33435139060020447,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": -0.0013205118011683226,
                    "y": 0.0002017271617660299,
                    "z": -0.23213247954845428
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5145211815834045,
                "transform": {
                    "location": {
                        "x": 703.1715698242188,
                        "y": 4290.2109375,
                        "z": 369.6522521972656
                    },
                    "rotation": {
                        "roll": -0.00189208984375,
                        "pitch": 0.3321520686149597,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -0.002972028451040387,
                    "y": 0.00014319577894639224,
                    "z": -0.5145125985145569
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3239947259426117,
                "transform": {
                    "location": {
                        "x": 642.4929809570312,
                        "y": 4286.181640625,
                        "z": 370.003662109375
                    },
                    "rotation": {
                        "roll": -0.0943298190832138,
                        "pitch": 0.384498655796051,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": 0.00032208068296313286,
                    "y": -0.009597599506378174,
                    "z": 0.32385239005088806
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.003020843956619501,
        "expert_target_speed": 1.038282147446211,
        "target_point": [
            51.54342740964375,
            0.03885899304478729
        ],
        "target_point_next": [
            102.54339033270632,
            0.0770253758161602
        ]
    },
    "10": {
        "acceleration": [
            0.00034860000596381724,
            2.0927342120558023e-05,
            -0.07891891896724701
        ],
        "angular_velocity": [
            0.0010531136067584157,
            0.0031394788529723883,
            5.4830994486110285e-05
        ],
        "forward_vector": [
            -0.9999599456787109,
            0.006664735730737448,
            0.005965673830360174
        ],
        "right_vector": [
            -0.0066648549400269985,
            -0.9999777674674988,
            -5.426590732326986e-08
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4877014160156
        ],
        "rotation": [
            3.109262934231083e-06,
            0.3418099582195282,
            179.61813354492188
        ],
        "velocity": [
            8.494317444274202e-05,
            -2.0448374016268644e-06,
            0.010766437277197838
        ],
        "speed": 8.49677835677099e-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": 78.23189544677734,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                655.5183715820312,
                4296.9931640625,
                369.9817810058594
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.5183715820312,
                        "y": 4296.9931640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "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": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 655.4991455078125,
                        "y": 4293.7431640625,
                        "z": 369.9817810058594
                    },
                    "rotation": {
                        "roll": 1.0422190194203651e-10,
                        "pitch": -0.30624517798423767,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.1025436520576477,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.2929992675781
                    },
                    "rotation": {
                        "roll": -0.0005187983624637127,
                        "pitch": 0.3847103714942932,
                        "yaw": 176.17250061035156
                    }
                },
                "velocity": {
                    "x": 0.000690049899276346,
                    "y": -9.282471728511155e-05,
                    "z": 0.10254128277301788
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.061174292117357254,
                "transform": {
                    "location": {
                        "x": 747.9963989257812,
                        "y": 4286.4599609375,
                        "z": 369.3731689453125
                    },
                    "rotation": {
                        "roll": 0.000871284632012248,
                        "pitch": 0.34060102701187134,
                        "yaw": 177.89122009277344
                    }
                },
                "velocity": {
                    "x": 0.00037549142143689096,
                    "y": -8.296708074340131e-06,
                    "z": 0.06117313727736473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0274041835218668,
                "transform": {
                    "location": {
                        "x": 718.15185546875,
                        "y": 4286.8720703125,
                        "z": 369.56365966796875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.33960381150245667,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": 0.0001842377969296649,
                    "y": -0.00012511353997979313,
                    "z": 0.027403278276324272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.02493421360850334,
                "transform": {
                    "location": {
                        "x": 703.15234375,
                        "y": 4286.9609375,
                        "z": 369.6972961425781
                    },
                    "rotation": {
                        "roll": 0.001135597936809063,
                        "pitch": 0.3331014811992645,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.000176285466295667,
                    "y": -4.4604203139897436e-05,
                    "z": 0.024933550506830215
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09441056847572327,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.30328369140625
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.3812406361103058,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0006493785767816007,
                    "y": -0.00010532941087149084,
                    "z": 0.09440827369689941
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09427197277545929,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.3948059082031
                    },
                    "rotation": {
                        "roll": -0.00115966796875,
                        "pitch": 0.3332790732383728,
                        "yaw": 177.8912811279297
                    }
                },
                "velocity": {
                    "x": 0.0005661581526510417,
                    "y": -8.152468217303976e-05,
                    "z": 0.0942702367901802
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.024769581854343414,
                "transform": {
                    "location": {
                        "x": 718.1713256835938,
                        "y": 4290.1220703125,
                        "z": 369.610107421875
                    },
                    "rotation": {
                        "roll": 0.0018934343243017793,
                        "pitch": 0.3349592983722687,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0001544644619571045,
                    "y": 0.00035380563349463046,
                    "z": 0.024766573682427406
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1063017025589943,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.6437683105469
                    },
                    "rotation": {
                        "roll": -0.00299072265625,
                        "pitch": 0.33179691433906555,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": 0.0006267820717766881,
                    "y": -0.00017751703853718936,
                    "z": 0.10629970580339432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.057063329964876175,
                "transform": {
                    "location": {
                        "x": 642.4939575195312,
                        "y": 4286.181640625,
                        "z": 370.02734375
                    },
                    "rotation": {
                        "roll": 0.018715541809797287,
                        "pitch": 0.2854540944099426,
                        "yaw": 179.66146850585938
                    }
                },
                "velocity": {
                    "x": -0.0005597444251179695,
                    "y": -0.0009280548547394574,
                    "z": -0.057053036987781525
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0006621447973884642,
        "expert_target_speed": 1.0062047283731732,
        "target_point": [
            51.5434274281673,
            0.03883441522333281
        ],
        "target_point_next": [
            102.54339036942324,
            0.07697647931731266
        ]
    },
    "15": {
        "acceleration": [
            0.0009335741051472723,
            -6.323741399683058e-05,
            -0.0038847862742841244
        ],
        "angular_velocity": [
            0.0019514037994667888,
            0.0012078032596036792,
            6.802781717851758e-05
        ],
        "forward_vector": [
            -0.9999600052833557,
            0.006664736196398735,
            0.00595899811014533
        ],
        "right_vector": [
            -0.006664869375526905,
            -0.9999777674674988,
            -2.466615114826709e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.48883056640625
        ],
        "rotation": [
            0.0001413291465723887,
            0.3414274752140045,
            179.61813354492188
        ],
        "velocity": [
            2.5298520995420404e-05,
            -3.873225978168193e-06,
            0.0016747165936976671
        ],
        "speed": 2.559330076472521e-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": 76.16633605957031,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                657.6002807617188,
                4296.98046875,
                369.9375
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.6002807617188,
                        "y": 4296.98046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "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": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 657.5810546875,
                        "y": 4293.73046875,
                        "z": 369.9375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "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": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023524481803178787,
                "transform": {
                    "location": {
                        "x": 762.8301391601562,
                        "y": 4285.6904296875,
                        "z": 369.3082580566406
                    },
                    "rotation": {
                        "roll": 7.595754595968174e-06,
                        "pitch": 0.3843074142932892,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.0001689358032308519,
                    "y": 2.7320020308252424e-05,
                    "z": 0.023523859679698944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1389744132757187,
                "transform": {
                    "location": {
                        "x": 747.9893798828125,
                        "y": 4286.4599609375,
                        "z": 369.4047546386719
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": 0.3541930913925171,
                        "yaw": 177.89453125
                    }
                },
                "velocity": {
                    "x": -0.08124236017465591,
                    "y": 0.0009029434877447784,
                    "z": 0.1127508357167244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8802815675735474,
                "transform": {
                    "location": {
                        "x": 718.0856323242188,
                        "y": 4286.87158203125,
                        "z": 369.571044921875
                    },
                    "rotation": {
                        "roll": -0.00921630673110485,
                        "pitch": 0.5455613136291504,
                        "yaw": 179.6595916748047
                    }
                },
                "velocity": {
                    "x": -0.87979656457901,
                    "y": -0.005085095763206482,
                    "z": 0.02877085655927658
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9055242538452148,
                "transform": {
                    "location": {
                        "x": 703.0865478515625,
                        "y": 4286.96044921875,
                        "z": 369.70068359375
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": 0.4072636663913727,
                        "yaw": 179.68353271484375
                    }
                },
                "velocity": {
                    "x": -0.9053999781608582,
                    "y": -0.007333825808018446,
                    "z": 0.013086671940982342
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020953742787241936,
                "transform": {
                    "location": {
                        "x": 763.047119140625,
                        "y": 4288.93310546875,
                        "z": 369.3172302246094
                    },
                    "rotation": {
                        "roll": -0.0003662094532046467,
                        "pitch": 0.38114503026008606,
                        "yaw": 176.1725311279297
                    }
                },
                "velocity": {
                    "x": 0.00015021853323560208,
                    "y": -0.0001034343586070463,
                    "z": 0.020952949300408363
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020843490958213806,
                "transform": {
                    "location": {
                        "x": 748.116455078125,
                        "y": 4289.70751953125,
                        "z": 369.40875244140625
                    },
                    "rotation": {
                        "roll": -0.0012512201210483909,
                        "pitch": 0.3332858979701996,
                        "yaw": 177.8913116455078
                    }
                },
                "velocity": {
                    "x": 0.00014303937496151775,
                    "y": 6.13619340583682e-05,
                    "z": 0.020842909812927246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9213072061538696,
                "transform": {
                    "location": {
                        "x": 718.1052856445312,
                        "y": 4290.12158203125,
                        "z": 369.6134948730469
                    },
                    "rotation": {
                        "roll": -0.002807616489008069,
                        "pitch": 0.40968838334083557,
                        "yaw": 179.68809509277344
                    }
                },
                "velocity": {
                    "x": -0.9211761951446533,
                    "y": -0.007747138384729624,
                    "z": 0.013466023840010166
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.02309280075132847,
                "transform": {
                    "location": {
                        "x": 703.17138671875,
                        "y": 4290.2109375,
                        "z": 369.65948486328125
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.33230918645858765,
                        "yaw": 179.66168212890625
                    }
                },
                "velocity": {
                    "x": 0.00014444772386923432,
                    "y": -3.2976691727526486e-05,
                    "z": 0.023092325776815414
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.05881591513752937,
                "transform": {
                    "location": {
                        "x": 642.493896484375,
                        "y": 4286.181640625,
                        "z": 370.0079345703125
                    },
                    "rotation": {
                        "roll": 0.006253334693610668,
                        "pitch": 0.29145780205726624,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -0.0001237491815118119,
                    "y": 0.0006633757147938013,
                    "z": -0.05881204456090927
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0029307387303560972,
        "expert_target_speed": 1.0023097341821363,
        "target_point": [
            51.5434274281673,
            0.03883441522333281
        ],
        "target_point_next": [
            102.54339036942324,
            0.07697647931731266
        ]
    },
    "20": {
        "acceleration": [
            -0.00038408784894272685,
            0.0009601342608220875,
            0.0053548626601696014
        ],
        "angular_velocity": [
            -0.006924833636730909,
            -0.0020733382552862167,
            0.00012262161180842668
        ],
        "forward_vector": [
            -0.9999600648880005,
            0.006663782987743616,
            0.005947435274720192
        ],
        "right_vector": [
            -0.00666393619030714,
            -0.9999777674674988,
            -5.960445832897676e-06
        ],
        "location": [
            733.0796508789062,
            4286.78369140625,
            369.4891662597656
        ],
        "rotation": [
            0.00034151444560848176,
            0.34076493978500366,
            179.61817932128906
        ],
        "velocity": [
            1.6189478628803045e-05,
            2.6337222152506e-05,
            0.0019387135980650783
        ],
        "speed": 3.0915182176123814e-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": 74.10096740722656,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                659.6831665039062,
                4296.96826171875,
                369.9178466796875
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6831665039062,
                        "y": 4296.96826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "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": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 659.6638793945312,
                        "y": 4293.71826171875,
                        "z": 369.9178466796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30904555320739746,
                        "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": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9624414443969727,
                "transform": {
                    "location": {
                        "x": 762.6216430664062,
                        "y": 4285.701171875,
                        "z": 369.31097412109375
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": 0.4233282804489136,
                        "yaw": 176.26351928710938
                    }
                },
                "velocity": {
                    "x": -1.9601579904556274,
                    "y": 0.09399950504302979,
                    "z": 0.01101123820990324
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7023549675941467,
                "transform": {
                    "location": {
                        "x": 747.8656616210938,
                        "y": 4286.46240234375,
                        "z": 369.416015625
                    },
                    "rotation": {
                        "roll": -0.007965087890625,
                        "pitch": 0.4783249497413635,
                        "yaw": 177.92434692382812
                    }
                },
                "velocity": {
                    "x": -0.7022427320480347,
                    "y": 0.012511569075286388,
                    "z": 0.0010335540864616632
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8672748804092407,
                "transform": {
                    "location": {
                        "x": 717.7289428710938,
                        "y": 4286.8701171875,
                        "z": 369.5760192871094
                    },
                    "rotation": {
                        "roll": -0.014770508743822575,
                        "pitch": 0.7257280349731445,
                        "yaw": 179.80140686035156
                    }
                },
                "velocity": {
                    "x": -1.8671436309814453,
                    "y": -0.011976280249655247,
                    "z": 0.018614167347550392
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8437989950180054,
                "transform": {
                    "location": {
                        "x": 702.7273559570312,
                        "y": 4286.958984375,
                        "z": 369.7033996582031
                    },
                    "rotation": {
                        "roll": -0.0011901853140443563,
                        "pitch": 0.4365173578262329,
                        "yaw": 179.8267822265625
                    }
                },
                "velocity": {
                    "x": -1.8436987400054932,
                    "y": -0.015339852310717106,
                    "z": 0.011584796942770481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1327996253967285,
                "transform": {
                    "location": {
                        "x": 762.8187255859375,
                        "y": 4288.9443359375,
                        "z": 369.3216857910156
                    },
                    "rotation": {
                        "roll": 0.009196165949106216,
                        "pitch": 0.19323286414146423,
                        "yaw": 176.25099182128906
                    }
                },
                "velocity": {
                    "x": -2.1304445266723633,
                    "y": 0.09921599179506302,
                    "z": 0.013990955427289009
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1806137561798096,
                "transform": {
                    "location": {
                        "x": 747.890625,
                        "y": 4289.712890625,
                        "z": 369.4130859375
                    },
                    "rotation": {
                        "roll": 0.009538781829178333,
                        "pitch": 0.14528495073318481,
                        "yaw": 178.08070373535156
                    }
                },
                "velocity": {
                    "x": -2.1803085803985596,
                    "y": 0.03475413843989372,
                    "z": 0.011095733381807804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.872437596321106,
                "transform": {
                    "location": {
                        "x": 717.7435913085938,
                        "y": 4290.1201171875,
                        "z": 369.6162109375
                    },
                    "rotation": {
                        "roll": -0.00146484375,
                        "pitch": 0.43943384289741516,
                        "yaw": 179.81565856933594
                    }
                },
                "velocity": {
                    "x": -1.8723291158676147,
                    "y": -0.016089793294668198,
                    "z": 0.012134618125855923
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1024563312530518,
                "transform": {
                    "location": {
                        "x": 703.0511474609375,
                        "y": 4290.21044921875,
                        "z": 369.66143798828125
                    },
                    "rotation": {
                        "roll": -0.0027465815655887127,
                        "pitch": 0.36385098099708557,
                        "yaw": 179.70703125
                    }
                },
                "velocity": {
                    "x": -1.1024144887924194,
                    "y": -0.00721356738358736,
                    "z": 0.006342162843793631
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.006155104376375675,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0027160644531
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.3038546144962311,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 6.35122851235792e-05,
                    "y": -2.5314999220427126e-05,
                    "z": 0.006154724396765232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0020314077846705914,
        "expert_target_speed": 1.0182002110693715,
        "target_point": [
            51.54342746517924,
            0.03878525958039736
        ],
        "target_point_next": [
            102.5433904427871,
            0.07687868631956518
        ]
    },
    "25": {
        "acceleration": [
            -5.9720458984375,
            0.07298552244901657,
            0.03741054981946945
        ],
        "angular_velocity": [
            -0.007792134769260883,
            1.6421582698822021,
            -0.6620899438858032
        ],
        "forward_vector": [
            -0.9999268054962158,
            0.0075316233560442924,
            0.0094667449593544
        ],
        "right_vector": [
            -0.0075316885486245155,
            -0.9999716281890869,
            2.876084909075871e-05
        ],
        "location": [
            733.0123291015625,
            4286.7841796875,
            369.4889831542969
        ],
        "rotation": [
            -0.00164794921875,
            0.5424126386642456,
            179.56845092773438
        ],
        "velocity": [
            -0.8498448133468628,
            0.004883340559899807,
            0.004850683268159628
        ],
        "speed": 0.8498588434484801,
        "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": 71.96997833251953,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                661.7659912109375,
                4296.9560546875,
                369.90142822265625
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7659912109375,
                        "y": 4296.9560546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "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": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 661.7467651367188,
                        "y": 4293.7060546875,
                        "z": 369.90142822265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "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": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.954958200454712,
                "transform": {
                    "location": {
                        "x": 761.99169921875,
                        "y": 4285.73388671875,
                        "z": 369.3148498535156
                    },
                    "rotation": {
                        "roll": 0.000642845465335995,
                        "pitch": 0.410419225692749,
                        "yaw": 176.56158447265625
                    }
                },
                "velocity": {
                    "x": -2.951572895050049,
                    "y": 0.14024300873279572,
                    "z": 0.018084602430462837
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6119256019592285,
                "transform": {
                    "location": {
                        "x": 747.5776977539062,
                        "y": 4286.4697265625,
                        "z": 369.41259765625
                    },
                    "rotation": {
                        "roll": -0.009582518599927425,
                        "pitch": 0.5344759225845337,
                        "yaw": 178.0966796875
                    }
                },
                "velocity": {
                    "x": -1.611609935760498,
                    "y": 0.030400477349758148,
                    "z": -0.009663152508437634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9849061965942383,
                "transform": {
                    "location": {
                        "x": 717.1282348632812,
                        "y": 4286.86669921875,
                        "z": 369.5803527832031
                    },
                    "rotation": {
                        "roll": -0.014343264512717724,
                        "pitch": 0.7958126068115234,
                        "yaw": 179.9939422607422
                    }
                },
                "velocity": {
                    "x": -2.984772205352783,
                    "y": -0.021640010178089142,
                    "z": 0.01820565201342106
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9991533756256104,
                "transform": {
                    "location": {
                        "x": 702.122314453125,
                        "y": 4286.95556640625,
                        "z": 369.7068176269531
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": 0.45056024193763733,
                        "yaw": -179.98480224609375
                    }
                },
                "velocity": {
                    "x": -2.9989874362945557,
                    "y": -0.02612335793673992,
                    "z": 0.017652425915002823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3427064418792725,
                "transform": {
                    "location": {
                        "x": 762.1182861328125,
                        "y": 4288.97900390625,
                        "z": 369.32562255859375
                    },
                    "rotation": {
                        "roll": 0.007742029149085283,
                        "pitch": 0.23228788375854492,
                        "yaw": 176.57057189941406
                    }
                },
                "velocity": {
                    "x": -3.3390941619873047,
                    "y": 0.15403757989406586,
                    "z": 0.020218972116708755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3360886573791504,
                "transform": {
                    "location": {
                        "x": 747.1873779296875,
                        "y": 4289.7265625,
                        "z": 369.41650390625
                    },
                    "rotation": {
                        "roll": 0.006681015249341726,
                        "pitch": 0.18753649294376373,
                        "yaw": 178.37228393554688
                    }
                },
                "velocity": {
                    "x": -3.3356075286865234,
                    "y": 0.053618915379047394,
                    "z": 0.018295086920261383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.9810941219329834,
                "transform": {
                    "location": {
                        "x": 717.1384887695312,
                        "y": 4290.11669921875,
                        "z": 369.6197509765625
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": 0.4510451853275299,
                        "yaw": 179.99435424804688
                    }
                },
                "velocity": {
                    "x": -2.9809346199035645,
                    "y": -0.02512659691274166,
                    "z": 0.017862863838672638
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7386195659637451,
                "transform": {
                    "location": {
                        "x": 702.6842041015625,
                        "y": 4290.208984375,
                        "z": 369.6632995605469
                    },
                    "rotation": {
                        "roll": -0.0016174311749637127,
                        "pitch": 0.35850977897644043,
                        "yaw": 179.81295776367188
                    }
                },
                "velocity": {
                    "x": -1.7385467290878296,
                    "y": -0.013371847569942474,
                    "z": 0.008636074140667915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.004287960007786751,
        "expert_target_speed": 1.8699655086708273,
        "target_point": [
            51.476050850169436,
            0.083498103857439
        ],
        "target_point_next": [
            102.47596156326858,
            0.16585150359053935
        ]
    },
    "30": {
        "acceleration": [
            -3.1921792030334473,
            0.030339136719703674,
            0.021051596850156784
        ],
        "angular_velocity": [
            0.008780213072896004,
            0.18596498668193817,
            -0.2102600783109665
        ],
        "forward_vector": [
            -0.9998894333839417,
            0.008383648470044136,
            0.012279558926820755
        ],
        "right_vector": [
            -0.008384459652006626,
            -0.9999648332595825,
            -1.4570857274520677e-05
        ],
        "location": [
            732.681884765625,
            4286.78564453125,
            369.4903869628906
        ],
        "rotation": [
            0.0008349115960299969,
            0.7035845518112183,
            179.5196075439453
        ],
        "velocity": [
            -1.743064284324646,
            0.012314679101109505,
            0.010109929367899895
        ],
        "speed": 1.7431077851382437,
        "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": 69.57967376708984,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                663.848876953125,
                4296.94384765625,
                369.8895568847656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.848876953125,
                        "y": 4296.94384765625,
                        "z": 369.8895568847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "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": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.041495323181152,
                "transform": {
                    "location": {
                        "x": 663.8197631835938,
                        "y": 4293.69482421875,
                        "z": 369.8901062011719
                    },
                    "rotation": {
                        "roll": -0.013000487349927425,
                        "pitch": -0.3382855951786041,
                        "yaw": -0.30633544921875
                    }
                },
                "velocity": {
                    "x": 8.04139232635498,
                    "y": -0.013542907312512398,
                    "z": -0.038271788507699966
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7215301990509033,
                "transform": {
                    "location": {
                        "x": 761.1531982421875,
                        "y": 4285.77587890625,
                        "z": 369.3203430175781
                    },
                    "rotation": {
                        "roll": 0.0018736777128651738,
                        "pitch": 0.39598703384399414,
                        "yaw": 176.84603881835938
                    }
                },
                "velocity": {
                    "x": -3.7173964977264404,
                    "y": 0.17370493710041046,
                    "z": 0.024015702307224274
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.12589955329895,
                "transform": {
                    "location": {
                        "x": 747.0094604492188,
                        "y": 4286.48193359375,
                        "z": 369.4127502441406
                    },
                    "rotation": {
                        "roll": -0.013244626112282276,
                        "pitch": 0.6452479362487793,
                        "yaw": 178.36044311523438
                    }
                },
                "velocity": {
                    "x": -3.1253464221954346,
                    "y": 0.055956415832042694,
                    "z": 0.01808849349617958
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.384318828582764,
                "transform": {
                    "location": {
                        "x": 716.195068359375,
                        "y": 4286.8603515625,
                        "z": 369.5854187011719
                    },
                    "rotation": {
                        "roll": -0.013763426803052425,
                        "pitch": 0.9122331738471985,
                        "yaw": -179.8003692626953
                    }
                },
                "velocity": {
                    "x": -4.384103775024414,
                    "y": -0.03520318120718002,
                    "z": 0.025385074317455292
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.374879837036133,
                "transform": {
                    "location": {
                        "x": 701.1904296875,
                        "y": 4286.94921875,
                        "z": 369.71197509765625
                    },
                    "rotation": {
                        "roll": 0.0004474956658668816,
                        "pitch": 0.4760231673717499,
                        "yaw": -179.7861785888672
                    }
                },
                "velocity": {
                    "x": -4.374629974365234,
                    "y": -0.039465732872486115,
                    "z": 0.024999350309371948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.465246200561523,
                "transform": {
                    "location": {
                        "x": 761.137939453125,
                        "y": 4289.02685546875,
                        "z": 369.3317565917969
                    },
                    "rotation": {
                        "roll": 0.006022654939442873,
                        "pitch": 0.25584521889686584,
                        "yaw": 176.87184143066406
                    }
                },
                "velocity": {
                    "x": -4.460405349731445,
                    "y": 0.20574620366096497,
                    "z": 0.029574546962976456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.471312999725342,
                "transform": {
                    "location": {
                        "x": 746.2045288085938,
                        "y": 4289.7451171875,
                        "z": 369.4219055175781
                    },
                    "rotation": {
                        "roll": 0.006520191207528114,
                        "pitch": 0.2156495451927185,
                        "yaw": 178.64529418945312
                    }
                },
                "velocity": {
                    "x": -4.470666885375977,
                    "y": 0.07140378654003143,
                    "z": 0.026057662442326546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.370018482208252,
                "transform": {
                    "location": {
                        "x": 716.2079467773438,
                        "y": 4290.1103515625,
                        "z": 369.6249084472656
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": 0.47869378328323364,
                        "yaw": -179.80140686035156
                    }
                },
                "velocity": {
                    "x": -4.369767189025879,
                    "y": -0.03906865790486336,
                    "z": 0.02586238831281662
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.253244638442993,
                "transform": {
                    "location": {
                        "x": 702.1843872070312,
                        "y": 4290.20654296875,
                        "z": 369.66619873046875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": 0.35028624534606934,
                        "yaw": 179.96206665039062
                    }
                },
                "velocity": {
                    "x": -2.253136396408081,
                    "y": -0.018017632886767387,
                    "z": 0.01277344673871994
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.005850034765899181,
        "expert_target_speed": 2.7684650812849005,
        "target_point": [
            51.145515948844626,
            0.12608007680453343
        ],
        "target_point_next": [
            102.14533791275267,
            0.2519151919960032
        ]
    },
    "35": {
        "acceleration": [
            -4.827814102172852,
            0.02861902117729187,
            0.03244686871767044
        ],
        "angular_velocity": [
            -0.021157780662178993,
            0.3144353926181793,
            0.18785135447978973
        ],
        "forward_vector": [
            -0.9998717904090881,
            0.008044489659368992,
            0.013845238834619522
        ],
        "right_vector": [
            -0.008044869638979435,
            -0.999967634677887,
            2.8226799258845858e-05
        ],
        "location": [
            732.09375,
            4286.7900390625,
            369.4934997558594
        ],
        "rotation": [
            -0.0016174314077943563,
            0.7932990789413452,
            179.53903198242188
        ],
        "velocity": [
            -2.8969173431396484,
            0.020217077806591988,
            0.016745949164032936
        ],
        "speed": 2.896987887999934,
        "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": 67.00016021728516,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                665.868408203125,
                4296.94287109375,
                369.87408447265625
            ],
            "velocity": [
                8.055631637573242,
                0.04458218812942505,
                -0.057188842445611954
            ],
            "speed_kmh": 29.001448781612382,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05595874786377,
                "transform": {
                    "location": {
                        "x": 665.868408203125,
                        "y": 4296.94287109375,
                        "z": 369.87408447265625
                    },
                    "rotation": {
                        "roll": -0.007232664618641138,
                        "pitch": -0.3161626160144806,
                        "yaw": 0.06552726775407791
                    }
                },
                "velocity": {
                    "x": 8.055631637573242,
                    "y": 0.04458218812942505,
                    "z": -0.057188842445611954
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.270133972167969,
                "transform": {
                    "location": {
                        "x": 665.8599853515625,
                        "y": 4293.697265625,
                        "z": 369.8818359375
                    },
                    "rotation": {
                        "roll": -0.052001941949129105,
                        "pitch": -0.3364277780056,
                        "yaw": 0.139989972114563
                    }
                },
                "velocity": {
                    "x": 8.269911766052246,
                    "y": 0.04908223822712898,
                    "z": -0.03560657426714897
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.451961517333984,
                "transform": {
                    "location": {
                        "x": 760.1292114257812,
                        "y": 4285.8251953125,
                        "z": 369.3271484375
                    },
                    "rotation": {
                        "roll": 0.0038021302316337824,
                        "pitch": 0.38960763812065125,
                        "yaw": 177.0806427001953
                    }
                },
                "velocity": {
                    "x": -4.44717264175415,
                    "y": 0.20432931184768677,
                    "z": 0.02949841506779194
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.013422966003418,
                "transform": {
                    "location": {
                        "x": 745.9855346679688,
                        "y": 4286.501953125,
                        "z": 369.4181823730469
                    },
                    "rotation": {
                        "roll": -0.011657713912427425,
                        "pitch": 0.7981348633766174,
                        "yaw": 178.63963317871094
                    }
                },
                "velocity": {
                    "x": -5.012607574462891,
                    "y": 0.08461152017116547,
                    "z": 0.031883981078863144
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.411758899688721,
                "transform": {
                    "location": {
                        "x": 714.939697265625,
                        "y": 4286.85498046875,
                        "z": 369.59320068359375
                    },
                    "rotation": {
                        "roll": 0.01933136209845543,
                        "pitch": 0.8842430710792542,
                        "yaw": -179.8705291748047
                    }
                },
                "velocity": {
                    "x": -5.411653995513916,
                    "y": -0.010935147292912006,
                    "z": 0.03186902031302452
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.324244499206543,
                "transform": {
                    "location": {
                        "x": 699.9428100585938,
                        "y": 4286.9453125,
                        "z": 369.7197265625
                    },
                    "rotation": {
                        "roll": 0.008706972002983093,
                        "pitch": 0.4497884213924408,
                        "yaw": -179.79385375976562
                    }
                },
                "velocity": {
                    "x": -5.3241424560546875,
                    "y": -0.008787357248365879,
                    "z": 0.03175091743469238
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2888503074646,
                "transform": {
                    "location": {
                        "x": 759.8945922851562,
                        "y": 4289.0859375,
                        "z": 369.3399658203125
                    },
                    "rotation": {
                        "roll": 0.005559108220040798,
                        "pitch": 0.2765201926231384,
                        "yaw": 177.10623168945312
                    }
                },
                "velocity": {
                    "x": -5.283191204071045,
                    "y": 0.24199631810188293,
                    "z": 0.03557756170630455
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.285097122192383,
                "transform": {
                    "location": {
                        "x": 744.95654296875,
                        "y": 4289.76611328125,
                        "z": 369.42919921875
                    },
                    "rotation": {
                        "roll": 0.004804009571671486,
                        "pitch": 0.24019725620746613,
                        "yaw": 178.82749938964844
                    }
                },
                "velocity": {
                    "x": -5.284327507019043,
                    "y": 0.08415006101131439,
                    "z": 0.03240690007805824
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.3108439445495605,
                "transform": {
                    "location": {
                        "x": 714.9620361328125,
                        "y": 4290.10595703125,
                        "z": 369.6326904296875
                    },
                    "rotation": {
                        "roll": 0.009589609690010548,
                        "pitch": 0.45263659954071045,
                        "yaw": -179.83421325683594
                    }
                },
                "velocity": {
                    "x": -5.310747146606445,
                    "y": -0.008863654918968678,
                    "z": 0.030809134244918823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.81040620803833,
                "transform": {
                    "location": {
                        "x": 701.54833984375,
                        "y": 4290.20263671875,
                        "z": 369.6699523925781
                    },
                    "rotation": {
                        "roll": 0.0005600251606665552,
                        "pitch": 0.3497466444969177,
                        "yaw": -179.87600708007812
                    }
                },
                "velocity": {
                    "x": -2.8102612495422363,
                    "y": -0.024291157722473145,
                    "z": 0.015007228590548038
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.007005136925727129,
        "expert_target_speed": 3.9113684258018937,
        "target_point": [
            50.55740466788634,
            0.10840293055883121
        ],
        "target_point_next": [
            101.5572663628111,
            0.21694750701584575
        ]
    },
    "40": {
        "acceleration": [
            -5.212392807006836,
            0.021010637283325195,
            0.031488798558712006
        ],
        "angular_velocity": [
            0.02422952465713024,
            0.24194476008415222,
            0.1826244592666626
        ],
        "forward_vector": [
            -0.9998504519462585,
            0.007367746904492378,
            0.015646295621991158
        ],
        "right_vector": [
            -0.0073674824088811874,
            -0.9999728798866272,
            7.45593715691939e-05
        ],
        "location": [
            731.1904296875,
            4286.79638671875,
            369.4984436035156
        ],
        "rotation": [
            -0.004272460471838713,
            0.8965032696723938,
            179.5778045654297
        ],
        "velocity": [
            -4.2606916427612305,
            0.026878420263528824,
            0.02402436174452305
        ],
        "speed": 4.260776422692378,
        "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": 64.11453247070312,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                667.88623046875,
                4296.951171875,
                369.8617248535156
            ],
            "velocity": [
                8.085064888000488,
                0.029939740896224976,
                -0.045740436762571335
            ],
            "speed_kmh": 29.106898943925447,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085248947143555,
                "transform": {
                    "location": {
                        "x": 667.88623046875,
                        "y": 4296.951171875,
                        "z": 369.8617248535156
                    },
                    "rotation": {
                        "roll": -0.002685546875,
                        "pitch": -0.31390181183815,
                        "yaw": 0.28379473090171814
                    }
                },
                "velocity": {
                    "x": 8.085064888000488,
                    "y": 0.029939740896224976,
                    "z": -0.045740436762571335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.052302360534668,
                "transform": {
                    "location": {
                        "x": 667.8993530273438,
                        "y": 4293.705078125,
                        "z": 369.87139892578125
                    },
                    "rotation": {
                        "roll": 0.005831517744809389,
                        "pitch": -0.31317099928855896,
                        "yaw": 0.2927829623222351
                    }
                },
                "velocity": {
                    "x": 8.052133560180664,
                    "y": 0.026644816622138023,
                    "z": -0.04480607062578201
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.198419094085693,
                "transform": {
                    "location": {
                        "x": 758.9177856445312,
                        "y": 4285.88232421875,
                        "z": 369.3351745605469
                    },
                    "rotation": {
                        "roll": 0.0023308543022722006,
                        "pitch": 0.38381561636924744,
                        "yaw": 177.24977111816406
                    }
                },
                "velocity": {
                    "x": -5.192943572998047,
                    "y": 0.23608581721782684,
                    "z": 0.03404930979013443
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.538119316101074,
                "transform": {
                    "location": {
                        "x": 744.641845703125,
                        "y": 4286.52685546875,
                        "z": 369.4287414550781
                    },
                    "rotation": {
                        "roll": -0.004943847190588713,
                        "pitch": 0.5574048757553101,
                        "yaw": 179.00570678710938
                    }
                },
                "velocity": {
                    "x": -5.537324905395508,
                    "y": 0.08802544325590134,
                    "z": 0.03242214024066925
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.235318660736084,
                "transform": {
                    "location": {
                        "x": 713.55419921875,
                        "y": 4286.8525390625,
                        "z": 369.60186767578125
                    },
                    "rotation": {
                        "roll": 0.01583186723291874,
                        "pitch": 0.7170127034187317,
                        "yaw": -179.9879913330078
                    }
                },
                "velocity": {
                    "x": -6.235206604003906,
                    "y": -0.006532677914947271,
                    "z": 0.036835458129644394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.573041915893555,
                "transform": {
                    "location": {
                        "x": 698.5835571289062,
                        "y": 4286.943359375,
                        "z": 369.72802734375
                    },
                    "rotation": {
                        "roll": 0.005704930983483791,
                        "pitch": 0.3880230188369751,
                        "yaw": -179.76416015625
                    }
                },
                "velocity": {
                    "x": -5.57294225692749,
                    "y": -0.010125351138412952,
                    "z": 0.03171096742153168
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.735456466674805,
                "transform": {
                    "location": {
                        "x": 758.5300903320312,
                        "y": 4289.14990234375,
                        "z": 369.3482971191406
                    },
                    "rotation": {
                        "roll": 0.005324273370206356,
                        "pitch": 0.30017995834350586,
                        "yaw": 177.29974365234375
                    }
                },
                "velocity": {
                    "x": -5.729562759399414,
                    "y": 0.25769102573394775,
                    "z": 0.03417787328362465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.711518287658691,
                "transform": {
                    "location": {
                        "x": 743.595458984375,
                        "y": 4289.7890625,
                        "z": 369.4368591308594
                    },
                    "rotation": {
                        "roll": 0.005426398012787104,
                        "pitch": 0.2827083468437195,
                        "yaw": 178.96971130371094
                    }
                },
                "velocity": {
                    "x": -5.710806846618652,
                    "y": 0.08388219773769379,
                    "z": 0.032985057681798935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.791581869125366,
                "transform": {
                    "location": {
                        "x": 713.7154541015625,
                        "y": 4290.1025390625,
                        "z": 369.6412353515625
                    },
                    "rotation": {
                        "roll": 0.0062414915300905704,
                        "pitch": 0.2548002004623413,
                        "yaw": -179.97341918945312
                    }
                },
                "velocity": {
                    "x": -3.79152250289917,
                    "y": -0.004075090866535902,
                    "z": 0.02085009589791298
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4125113487243652,
                "transform": {
                    "location": {
                        "x": 700.7705078125,
                        "y": 4290.1982421875,
                        "z": 369.6744384765625
                    },
                    "rotation": {
                        "roll": 0.0037837540730834007,
                        "pitch": 0.3515361547470093,
                        "yaw": -179.77566528320312
                    }
                },
                "velocity": {
                    "x": -3.412445068359375,
                    "y": -0.010269862599670887,
                    "z": 0.018618058413267136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.00314869056455791,
        "expert_target_speed": 5.2191874273337096,
        "target_point": [
            49.65412391654095,
            0.07386185810222157
        ],
        "target_point_next": [
            100.6540474168312,
            0.14787395896590694
        ]
    },
    "45": {
        "acceleration": [
            -2.0053958892822266,
            0.009340718388557434,
            -0.0070510804653167725
        ],
        "angular_velocity": [
            -0.12998874485492706,
            -0.8887040615081787,
            3.916677474975586
        ],
        "forward_vector": [
            -0.9998570084571838,
            0.006119318772107363,
            0.0157662034034729
        ],
        "right_vector": [
            -0.0061179292388260365,
            -0.9999812841415405,
            0.00013633689377456903
        ],
        "location": [
            729.9612426757812,
            4286.80419921875,
            369.5057373046875
        ],
        "rotation": [
            -0.007812499534338713,
            0.903374433517456,
            179.6493377685547
        ],
        "velocity": [
            -5.387722492218018,
            0.03048456832766533,
            0.03265707939863205
        ],
        "speed": 5.387808734732335,
        "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": 60.91263198852539,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                669.90185546875,
                4296.9580078125,
                369.8507385253906
            ],
            "velocity": [
                8.041783332824707,
                0.021257927641272545,
                -0.044585056602954865
            ],
            "speed_kmh": 28.95096607937615,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.041934967041016,
                "transform": {
                    "location": {
                        "x": 669.90185546875,
                        "y": 4296.9580078125,
                        "z": 369.8507385253906
                    },
                    "rotation": {
                        "roll": -0.00250244140625,
                        "pitch": -0.3135671317577362,
                        "yaw": 0.1992821842432022
                    }
                },
                "velocity": {
                    "x": 8.041783332824707,
                    "y": 0.021257927641272545,
                    "z": -0.044585056602954865
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.27890682220459,
                "transform": {
                    "location": {
                        "x": 669.9417724609375,
                        "y": 4293.7109375,
                        "z": 369.8597717285156
                    },
                    "rotation": {
                        "roll": 0.006823468022048473,
                        "pitch": -0.3095714747905731,
                        "yaw": 0.1869998425245285
                    }
                },
                "velocity": {
                    "x": 8.278757095336914,
                    "y": 0.0186613779515028,
                    "z": -0.04610753059387207
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.777711391448975,
                "transform": {
                    "location": {
                        "x": 757.5743408203125,
                        "y": 4285.94287109375,
                        "z": 369.34375
                    },
                    "rotation": {
                        "roll": 0.0033630055841058493,
                        "pitch": 0.37360450625419617,
                        "yaw": 177.3527374267578
                    }
                },
                "velocity": {
                    "x": -5.771892070770264,
                    "y": 0.25686800479888916,
                    "z": 0.0349997878074646
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.23744268715381622,
                "transform": {
                    "location": {
                        "x": 743.8473510742188,
                        "y": 4286.55810546875,
                        "z": 369.4422912597656
                    },
                    "rotation": {
                        "roll": -0.03112792782485485,
                        "pitch": -0.596924364566803,
                        "yaw": -179.33444213867188
                    }
                },
                "velocity": {
                    "x": -0.2349177896976471,
                    "y": 0.03453221172094345,
                    "z": -0.0004362678446341306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.682073593139648,
                "transform": {
                    "location": {
                        "x": 711.7977294921875,
                        "y": 4286.85107421875,
                        "z": 369.6112365722656
                    },
                    "rotation": {
                        "roll": 0.007605086080729961,
                        "pitch": 0.9264604449272156,
                        "yaw": -179.9710235595703
                    }
                },
                "velocity": {
                    "x": -7.681939125061035,
                    "y": -0.008049601688981056,
                    "z": 0.044728219509124756
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.827959060668945,
                "transform": {
                    "location": {
                        "x": 696.9427490234375,
                        "y": 4286.939453125,
                        "z": 369.7361755371094
                    },
                    "rotation": {
                        "roll": 0.004255329724401236,
                        "pitch": 0.5321058630943298,
                        "yaw": -179.85525512695312
                    }
                },
                "velocity": {
                    "x": -7.827820301055908,
                    "y": -0.01291451882570982,
                    "z": 0.04475622996687889
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.132969856262207,
                "transform": {
                    "location": {
                        "x": 756.9819946289062,
                        "y": 4289.220703125,
                        "z": 369.3585205078125
                    },
                    "rotation": {
                        "roll": 0.004292186815291643,
                        "pitch": 0.22072437405586243,
                        "yaw": 177.40184020996094
                    }
                },
                "velocity": {
                    "x": -7.125746726989746,
                    "y": 0.3177978992462158,
                    "z": 0.0446748249232769
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.152634620666504,
                "transform": {
                    "location": {
                        "x": 742.0408935546875,
                        "y": 4289.8125,
                        "z": 369.44659423828125
                    },
                    "rotation": {
                        "roll": 0.0032856708858162165,
                        "pitch": 0.19471502304077148,
                        "yaw": 179.04177856445312
                    }
                },
                "velocity": {
                    "x": -7.151772975921631,
                    "y": 0.10282380878925323,
                    "z": 0.04180806875228882
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.6170775890350342,
                "transform": {
                    "location": {
                        "x": 713.3250122070312,
                        "y": 4290.1025390625,
                        "z": 369.64581298828125
                    },
                    "rotation": {
                        "roll": 0.004927413538098335,
                        "pitch": -0.002226641634479165,
                        "yaw": -179.97061157226562
                    }
                },
                "velocity": {
                    "x": -0.617064893245697,
                    "y": -0.00044369156239554286,
                    "z": 0.003937187138944864
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.219234466552734,
                "transform": {
                    "location": {
                        "x": 699.8165283203125,
                        "y": 4290.19580078125,
                        "z": 369.6798095703125
                    },
                    "rotation": {
                        "roll": 0.00335704511962831,
                        "pitch": 0.35683637857437134,
                        "yaw": -179.81971740722656
                    }
                },
                "velocity": {
                    "x": -4.219157695770264,
                    "y": -0.008086901158094406,
                    "z": 0.024142693728208542
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.001594462082721293,
        "expert_target_speed": 6.271658104462737,
        "target_point": [
            48.424965627468445,
            0.012165735433849578
        ],
        "target_point_next": [
            99.4249417822738,
            0.022511546973697505
        ]
    },
    "50": {
        "acceleration": [
            -10.346784591674805,
            0.02662789076566696,
            0.04061892628669739
        ],
        "angular_velocity": [
            0.02498687244951725,
            1.5074577331542969,
            -1.9819667339324951
        ],
        "forward_vector": [
            -0.9999204277992249,
            0.005604984704405069,
            0.011300681158900261
        ],
        "right_vector": [
            -0.0056032659485936165,
            -0.9999842643737793,
            0.0001837463496485725
        ],
        "location": [
            728.6044921875,
            4286.810546875,
            369.51458740234375
        ],
        "rotation": [
            -0.01052856259047985,
            0.6474950909614563,
            179.6788330078125
        ],
        "velocity": [
            -5.888182640075684,
            0.023493275046348572,
            0.03520454466342926
        ],
        "speed": 5.888229507828397,
        "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": 57.66923904418945,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                671.8368530273438,
                4296.962890625,
                369.8401794433594
            ],
            "velocity": [
                7.398837089538574,
                0.0038705291226506233,
                -0.041267380118370056
            ],
            "speed_kmh": 26.63623147119824,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.398952960968018,
                "transform": {
                    "location": {
                        "x": 671.8368530273438,
                        "y": 4296.962890625,
                        "z": 369.8401794433594
                    },
                    "rotation": {
                        "roll": -0.002777099609375,
                        "pitch": -0.3292834162712097,
                        "yaw": 0.12161242961883545
                    }
                },
                "velocity": {
                    "x": 7.398837089538574,
                    "y": 0.0038705291226506233,
                    "z": -0.041267380118370056
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061100006103516,
                "transform": {
                    "location": {
                        "x": 671.9829711914062,
                        "y": 4293.71533203125,
                        "z": 369.8485412597656
                    },
                    "rotation": {
                        "roll": 0.0050982339307665825,
                        "pitch": -0.3182389736175537,
                        "yaw": 0.09736938029527664
                    }
                },
                "velocity": {
                    "x": 8.060975074768066,
                    "y": 0.002680822741240263,
                    "z": -0.04480655491352081
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.743229389190674,
                "transform": {
                    "location": {
                        "x": 756.1293334960938,
                        "y": 4286.0078125,
                        "z": 369.35284423828125
                    },
                    "rotation": {
                        "roll": 0.0039937859401106834,
                        "pitch": 0.3413591682910919,
                        "yaw": 177.40182495117188
                    }
                },
                "velocity": {
                    "x": -4.738465785980225,
                    "y": 0.2104354202747345,
                    "z": 0.029759692028164864
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.41709235310554504,
                "transform": {
                    "location": {
                        "x": 743.7735595703125,
                        "y": 4286.55859375,
                        "z": 369.4388732910156
                    },
                    "rotation": {
                        "roll": -0.0261840783059597,
                        "pitch": -0.1261262595653534,
                        "yaw": -179.3739471435547
                    }
                },
                "velocity": {
                    "x": -0.41707706451416016,
                    "y": 0.002637344179674983,
                    "z": 0.0024085044860839844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.546327114105225,
                "transform": {
                    "location": {
                        "x": 709.842041015625,
                        "y": 4286.85107421875,
                        "z": 369.6238098144531
                    },
                    "rotation": {
                        "roll": 0.021138150244951248,
                        "pitch": 0.585463285446167,
                        "yaw": -179.9932403564453
                    }
                },
                "velocity": {
                    "x": -7.5461907386779785,
                    "y": 0.009189454838633537,
                    "z": 0.04439432919025421
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.27366828918457,
                "transform": {
                    "location": {
                        "x": 694.8802490234375,
                        "y": 4286.9384765625,
                        "z": 369.7488098144531
                    },
                    "rotation": {
                        "roll": 0.0100308358669281,
                        "pitch": 0.42735809087753296,
                        "yaw": -179.9911651611328
                    }
                },
                "velocity": {
                    "x": -8.273512840270996,
                    "y": 0.014853814616799355,
                    "z": 0.04858715832233429
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.515552043914795,
                "transform": {
                    "location": {
                        "x": 755.1239013671875,
                        "y": 4289.3037109375,
                        "z": 369.3692932128906
                    },
                    "rotation": {
                        "roll": 0.0026438154745846987,
                        "pitch": 0.274682879447937,
                        "yaw": 177.4391326904297
                    }
                },
                "velocity": {
                    "x": -7.508052349090576,
                    "y": 0.3326932191848755,
                    "z": 0.04461463913321495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.195838928222656,
                "transform": {
                    "location": {
                        "x": 740.1083374023438,
                        "y": 4289.8408203125,
                        "z": 369.4577331542969
                    },
                    "rotation": {
                        "roll": 0.002593334298580885,
                        "pitch": 0.20786996185779572,
                        "yaw": 179.1290283203125
                    }
                },
                "velocity": {
                    "x": -8.194869041442871,
                    "y": 0.116941437125206,
                    "z": 0.047264497727155685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1729753017425537,
                "transform": {
                    "location": {
                        "x": 712.935302734375,
                        "y": 4290.1025390625,
                        "z": 369.64483642578125
                    },
                    "rotation": {
                        "roll": 0.0030590954702347517,
                        "pitch": 0.37620678544044495,
                        "yaw": -179.97811889648438
                    }
                },
                "velocity": {
                    "x": -2.1729331016540527,
                    "y": -0.0026007541455328465,
                    "z": 0.013275489211082458
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.184385299682617,
                "transform": {
                    "location": {
                        "x": 698.638427734375,
                        "y": 4290.193359375,
                        "z": 369.6867370605469
                    },
                    "rotation": {
                        "roll": 0.001704079331830144,
                        "pitch": 0.3631884455680847,
                        "yaw": -179.86141967773438
                    }
                },
                "velocity": {
                    "x": -5.184272289276123,
                    "y": -0.009416542947292328,
                    "z": 0.032933156937360764
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0016454095020890236,
        "expert_target_speed": 6.720709892209025,
        "target_point": [
            47.068200722705996,
            -0.014006536604928455
        ],
        "target_point_next": [
            98.06817545020716,
            -0.029900584986981005
        ]
    },
    "55": {
        "acceleration": [
            -5.428352355957031,
            -0.010878406465053558,
            0.03009893000125885
        ],
        "angular_velocity": [
            -0.11382924765348434,
            0.26495736837387085,
            2.6598410606384277
        ],
        "forward_vector": [
            -0.9998603463172913,
            0.0043499949388206005,
            0.01613570749759674
        ],
        "right_vector": [
            -0.004348086193203926,
            -0.9999905228614807,
            0.00015337811782956123
        ],
        "location": [
            726.8895263671875,
            4286.81787109375,
            369.5235595703125
        ],
        "rotation": [
            -0.0087890625,
            0.9245480298995972,
            179.750732421875
        ],
        "velocity": [
            -7.527646541595459,
            0.0285988450050354,
            0.043522872030735016
        ],
        "speed": 7.52770086740498,
        "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": 54.11964797973633,
        "front_vehicle_info": {
            "id": 44809,
            "type": "vehicle.ford.mustang",
            "location": [
                673.7300415039062,
                4296.96240234375,
                369.8295593261719
            ],
            "velocity": [
                7.9587554931640625,
                -0.014792134054005146,
                -0.04299904406070709
            ],
            "speed_kmh": 28.6519874206984,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.958885192871094,
                "transform": {
                    "location": {
                        "x": 673.7300415039062,
                        "y": 4296.96240234375,
                        "z": 369.8295593261719
                    },
                    "rotation": {
                        "roll": 0.0005791570292785764,
                        "pitch": -0.30823275446891785,
                        "yaw": -0.037078857421875
                    }
                },
                "velocity": {
                    "x": 7.9587554931640625,
                    "y": -0.014792134054005146,
                    "z": -0.04299904406070709
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.28757095336914,
                "transform": {
                    "location": {
                        "x": 674.0276489257812,
                        "y": 4293.71435546875,
                        "z": 369.8372497558594
                    },
                    "rotation": {
                        "roll": 0.013918338343501091,
                        "pitch": -0.31658607721328735,
                        "yaw": -0.0653991624712944
                    }
                },
                "velocity": {
                    "x": 8.287425994873047,
                    "y": -0.017221232876181602,
                    "z": -0.04593464359641075
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008984927553683519,
                "transform": {
                    "location": {
                        "x": 755.5721435546875,
                        "y": 4286.033203125,
                        "z": 369.3567199707031
                    },
                    "rotation": {
                        "roll": 0.0020936252549290657,
                        "pitch": 0.2461736649274826,
                        "yaw": 177.4545135498047
                    }
                },
                "velocity": {
                    "x": -0.00010577648936305195,
                    "y": -3.4353983210166916e-05,
                    "z": 0.000891583098564297
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.0765780210494995,
                "transform": {
                    "location": {
                        "x": 743.5905151367188,
                        "y": 4286.55908203125,
                        "z": 369.4342346191406
                    },
                    "rotation": {
                        "roll": 0.02454586885869503,
                        "pitch": 0.5928467512130737,
                        "yaw": -179.47097778320312
                    }
                },
                "velocity": {
                    "x": -1.0765215158462524,
                    "y": 0.009189916774630547,
                    "z": 0.006110629998147488
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.997226238250732,
                "transform": {
                    "location": {
                        "x": 708.1361083984375,
                        "y": 4286.85400390625,
                        "z": 369.6358642578125
                    },
                    "rotation": {
                        "roll": 0.013181172311306,
                        "pitch": 0.015190339647233486,
                        "yaw": 179.89976501464844
                    }
                },
                "velocity": {
                    "x": -5.997110366821289,
                    "y": 0.011718095280230045,
                    "z": 0.03545088693499565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.837887763977051,
                "transform": {
                    "location": {
                        "x": 692.8756713867188,
                        "y": 4286.94140625,
                        "z": 369.7613220214844
                    },
                    "rotation": {
                        "roll": 0.004472298547625542,
                        "pitch": 0.3123035430908203,
                        "yaw": 179.88287353515625
                    }
                },
                "velocity": {
                    "x": -7.837734222412109,
                    "y": 0.02047029510140419,
                    "z": 0.04461906477808952
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.182641983032227,
                "transform": {
                    "location": {
                        "x": 753.1724853515625,
                        "y": 4289.38818359375,
                        "z": 369.38092041015625
                    },
                    "rotation": {
                        "roll": 0.009082003496587276,
                        "pitch": 0.27784526348114014,
                        "yaw": 177.53118896484375
                    }
                },
                "velocity": {
                    "x": -8.176149368286133,
                    "y": 0.32254353165626526,
                    "z": 0.04672471806406975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.148000717163086,
                "transform": {
                    "location": {
                        "x": 737.9338989257812,
                        "y": 4289.87060546875,
                        "z": 369.4701843261719
                    },
                    "rotation": {
                        "roll": 0.009978070855140686,
                        "pitch": 0.2373763769865036,
                        "yaw": 179.23463439941406
                    }
                },
                "velocity": {
                    "x": -9.147330284118652,
                    "y": 0.09730372577905655,
                    "z": 0.05285564437508583
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.345181941986084,
                "transform": {
                    "location": {
                        "x": 712.3787231445312,
                        "y": 4290.10302734375,
                        "z": 369.6481628417969
                    },
                    "rotation": {
                        "roll": 0.001913300366140902,
                        "pitch": 0.36709532141685486,
                        "yaw": -179.95449829101562
                    }
                },
                "velocity": {
                    "x": -2.345134735107422,
                    "y": -0.004080724902451038,
                    "z": 0.014307918027043343
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.432894229888916,
                "transform": {
                    "location": {
                        "x": 697.316162109375,
                        "y": 4290.19140625,
                        "z": 369.6946716308594
                    },
                    "rotation": {
                        "roll": 0.003205154789611697,
                        "pitch": 0.34364044666290283,
                        "yaw": -179.8677215576172
                    }
                },
                "velocity": {
                    "x": -5.432805061340332,
                    "y": -0.009831953793764114,
                    "z": 0.02951238490641117
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.007148067466914654,
        "expert_target_speed": 8.007050422745523,
        "target_point": [
            45.35316462028342,
            -0.07321499404014292
        ],
        "target_point_next": [
            96.35307923481831,
            -0.15311578680377896
        ]
    },
    "60": {
        "acceleration": [
            -6.729393005371094,
            -0.018095411360263824,
            0.03248430788516998
        ],
        "angular_velocity": [
            0.011083428747951984,
            0.4211450219154358,
            -0.3509949743747711
        ],
        "forward_vector": [
            -0.9998972415924072,
            0.003680972382426262,
            0.013852032832801342
        ],
        "right_vector": [
            -0.003678787499666214,
            -0.9999932050704956,
            0.00018320789968129247
        ],
        "location": [
            724.8871459960938,
            4286.82470703125,
            369.5356140136719
        ],
        "rotation": [
            -0.010498046875,
            0.7936884164810181,
            179.78907775878906
        ],
        "velocity": [
            -8.43034553527832,
            0.021978238597512245,
            0.04770975187420845
        ],
        "speed": 8.43037418429093,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.136890411376953,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                706.7506103515625,
                4286.85791015625,
                369.64404296875
            ],
            "velocity": [
                -5.358285903930664,
                0.011619352735579014,
                0.032434966415166855
            ],
            "speed_kmh": 19.29022800917803,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.325035095214844,
                "transform": {
                    "location": {
                        "x": 675.80810546875,
                        "y": 4296.9580078125,
                        "z": 369.818115234375
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -0.30700331926345825,
                        "yaw": -0.141082763671875
                    }
                },
                "velocity": {
                    "x": 8.324883460998535,
                    "y": -0.023175885900855064,
                    "z": -0.04457534849643707
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070263862609863,
                "transform": {
                    "location": {
                        "x": 676.0712280273438,
                        "y": 4293.7099609375,
                        "z": 369.8260192871094
                    },
                    "rotation": {
                        "roll": 0.006304822396486998,
                        "pitch": -0.31945475935935974,
                        "yaw": -0.1679687350988388
                    }
                },
                "velocity": {
                    "x": 8.070099830627441,
                    "y": -0.02521665208041668,
                    "z": -0.04491735249757767
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9252704381942749,
                "transform": {
                    "location": {
                        "x": 755.4412841796875,
                        "y": 4286.0390625,
                        "z": 369.3567810058594
                    },
                    "rotation": {
                        "roll": 0.0014031799510121346,
                        "pitch": 0.339692622423172,
                        "yaw": 177.4818572998047
                    }
                },
                "velocity": {
                    "x": -0.9243938326835632,
                    "y": 0.039897967129945755,
                    "z": 0.005436668172478676
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2608184814453125,
                "transform": {
                    "location": {
                        "x": 743.1822509765625,
                        "y": 4286.56201171875,
                        "z": 369.4358825683594
                    },
                    "rotation": {
                        "roll": 0.028150590136647224,
                        "pitch": 0.6718446612358093,
                        "yaw": -179.6458740234375
                    }
                },
                "velocity": {
                    "x": -2.26066255569458,
                    "y": 0.022954249754548073,
                    "z": 0.013357686810195446
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.358396530151367,
                "transform": {
                    "location": {
                        "x": 706.7506103515625,
                        "y": 4286.85791015625,
                        "z": 369.64404296875
                    },
                    "rotation": {
                        "roll": 0.0073342155665159225,
                        "pitch": -0.030182603746652603,
                        "yaw": 179.90802001953125
                    }
                },
                "velocity": {
                    "x": -5.358285903930664,
                    "y": 0.011619352735579014,
                    "z": 0.032434966415166855
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077555656433105,
                "transform": {
                    "location": {
                        "x": 690.8976440429688,
                        "y": 4286.947265625,
                        "z": 369.7723388671875
                    },
                    "rotation": {
                        "roll": 0.002978866919875145,
                        "pitch": 0.3452114164829254,
                        "yaw": 179.84957885742188
                    }
                },
                "velocity": {
                    "x": -8.077397346496582,
                    "y": 0.020977575331926346,
                    "z": 0.04595557227730751
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.981466293334961,
                "transform": {
                    "location": {
                        "x": 751.0265502929688,
                        "y": 4289.47314453125,
                        "z": 369.39361572265625
                    },
                    "rotation": {
                        "roll": 0.004459237214177847,
                        "pitch": 0.24990977346897125,
                        "yaw": 177.71923828125
                    }
                },
                "velocity": {
                    "x": -8.974641799926758,
                    "y": 0.3460603654384613,
                    "z": 0.05271494761109352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.969143867492676,
                "transform": {
                    "location": {
                        "x": 735.5403442382812,
                        "y": 4289.8955078125,
                        "z": 369.484130859375
                    },
                    "rotation": {
                        "roll": 0.0034904177300632,
                        "pitch": 0.24368064105510712,
                        "yaw": 179.39122009277344
                    }
                },
                "velocity": {
                    "x": -9.968490600585938,
                    "y": 0.09872545301914215,
                    "z": 0.05723952129483223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.453361749649048,
                "transform": {
                    "location": {
                        "x": 711.6644897460938,
                        "y": 4290.1015625,
                        "z": 369.6517639160156
                    },
                    "rotation": {
                        "roll": 0.0026039239019155502,
                        "pitch": 0.4303770363330841,
                        "yaw": -179.94654846191406
                    }
                },
                "velocity": {
                    "x": -3.453301429748535,
                    "y": -0.004772179294377565,
                    "z": 0.019817542284727097
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.548323631286621,
                "transform": {
                    "location": {
                        "x": 695.8190307617188,
                        "y": 4290.189453125,
                        "z": 369.7029113769531
                    },
                    "rotation": {
                        "roll": 0.0026848975103348494,
                        "pitch": 0.3600875437259674,
                        "yaw": -179.85853576660156
                    }
                },
                "velocity": {
                    "x": -6.548215389251709,
                    "y": -0.002795879263430834,
                    "z": 0.037562720477581024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.010317354463040829,
        "expert_target_speed": 8.601849947208503,
        "target_point": [
            43.350713521881296,
            -0.10409155399636019
        ],
        "target_point_next": [
            94.35056326971502,
            -0.2181113983923577
        ]
    },
    "65": {
        "acceleration": [
            -4.378166198730469,
            0.18736869096755981,
            0.004502534866333008
        ],
        "angular_velocity": [
            0.10471511632204056,
            -0.2219715267419815,
            0.5908170938491821
        ],
        "forward_vector": [
            -0.9998524188995361,
            0.0044870334677398205,
            0.016584590077400208
        ],
        "right_vector": [
            -0.004494128283113241,
            -0.9999898672103882,
            -0.00039057081448845565
        ],
        "location": [
            722.5460205078125,
            4286.83349609375,
            369.5486755371094
        ],
        "rotation": [
            0.022381138056516647,
            0.9502705335617065,
            179.7428741455078
        ],
        "velocity": [
            -9.983994483947754,
            0.0585315115749836,
            0.057507190853357315
        ],
        "speed": 9.984166053974985,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.164878845214844,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                705.3814697265625,
                4286.86181640625,
                369.65093994140625
            ],
            "velocity": [
                -5.96375036239624,
                0.02254892699420452,
                0.034963589161634445
            ],
            "speed_kmh": 21.470023726579203,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.872838497161865,
                "transform": {
                    "location": {
                        "x": 677.8229370117188,
                        "y": 4296.95166015625,
                        "z": 369.80712890625
                    },
                    "rotation": {
                        "roll": 0.0006867855554446578,
                        "pitch": -0.32592979073524475,
                        "yaw": -0.2002563327550888
                    }
                },
                "velocity": {
                    "x": 7.872648239135742,
                    "y": -0.03162769973278046,
                    "z": -0.04466792941093445
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.296976089477539,
                "transform": {
                    "location": {
                        "x": 678.1182861328125,
                        "y": 4293.70263671875,
                        "z": 369.8146057128906
                    },
                    "rotation": {
                        "roll": 0.006617904175072908,
                        "pitch": -0.3181092143058777,
                        "yaw": -0.2360534369945526
                    }
                },
                "velocity": {
                    "x": 8.296764373779297,
                    "y": -0.03732840344309807,
                    "z": -0.046084556728601456
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6758151054382324,
                "transform": {
                    "location": {
                        "x": 755.1134033203125,
                        "y": 4286.0537109375,
                        "z": 369.35858154296875
                    },
                    "rotation": {
                        "roll": 0.0025195174384862185,
                        "pitch": 0.36311331391334534,
                        "yaw": 177.50843811035156
                    }
                },
                "velocity": {
                    "x": -1.6741809844970703,
                    "y": 0.07326360791921616,
                    "z": 0.010334109887480736
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9286370277404785,
                "transform": {
                    "location": {
                        "x": 742.4196166992188,
                        "y": 4286.56689453125,
                        "z": 369.4402160644531
                    },
                    "rotation": {
                        "roll": 0.026227688416838646,
                        "pitch": 0.6990424990653992,
                        "yaw": -179.95310974121094
                    }
                },
                "velocity": {
                    "x": -3.9283413887023926,
                    "y": 0.04241933301091194,
                    "z": 0.02289048209786415
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.963895320892334,
                "transform": {
                    "location": {
                        "x": 705.3814697265625,
                        "y": 4286.86181640625,
                        "z": 369.65093994140625
                    },
                    "rotation": {
                        "roll": 0.012543737888336182,
                        "pitch": 0.28953853249549866,
                        "yaw": 179.9069061279297
                    }
                },
                "velocity": {
                    "x": -5.96375036239624,
                    "y": 0.02254892699420452,
                    "z": 0.034963589161634445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.089090347290039,
                "transform": {
                    "location": {
                        "x": 688.86279296875,
                        "y": 4286.955078125,
                        "z": 369.7840576171875
                    },
                    "rotation": {
                        "roll": 0.004103950224816799,
                        "pitch": 0.32931071519851685,
                        "yaw": 179.77755737304688
                    }
                },
                "velocity": {
                    "x": -8.088886260986328,
                    "y": 0.03581821173429489,
                    "z": 0.04496496915817261
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.897693634033203,
                "transform": {
                    "location": {
                        "x": 748.6629028320312,
                        "y": 4289.564453125,
                        "z": 369.40753173828125
                    },
                    "rotation": {
                        "roll": 0.000610960996709764,
                        "pitch": 0.24406996369361877,
                        "yaw": 177.78610229492188
                    }
                },
                "velocity": {
                    "x": -9.890220642089844,
                    "y": 0.3802548944950104,
                    "z": 0.05725794658064842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.632113456726074,
                "transform": {
                    "location": {
                        "x": 732.9400024414062,
                        "y": 4289.92041015625,
                        "z": 369.4991760253906
                    },
                    "rotation": {
                        "roll": 0.005804304964840412,
                        "pitch": 0.26051023602485657,
                        "yaw": 179.4771270751953
                    }
                },
                "velocity": {
                    "x": -10.631620407104492,
                    "y": 0.08229277282953262,
                    "z": 0.06095417961478233
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.774946689605713,
                "transform": {
                    "location": {
                        "x": 710.6270751953125,
                        "y": 4290.1005859375,
                        "z": 369.65740966796875
                    },
                    "rotation": {
                        "roll": 0.008046934381127357,
                        "pitch": 0.4704838991165161,
                        "yaw": -179.97512817382812
                    }
                },
                "velocity": {
                    "x": -4.774855136871338,
                    "y": 0.010333729907870293,
                    "z": 0.02769923210144043
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.5038533210754395,
                "transform": {
                    "location": {
                        "x": 694.0505981445312,
                        "y": 4290.189453125,
                        "z": 369.7130432128906
                    },
                    "rotation": {
                        "roll": 0.004176103975623846,
                        "pitch": 0.36464327573776245,
                        "yaw": -179.98101806640625
                    }
                },
                "velocity": {
                    "x": -7.503725528717041,
                    "y": 0.011006532236933708,
                    "z": 0.04232669621706009
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.01061845663934946,
        "expert_target_speed": 9.534770346021562,
        "target_point": [
            41.0096419710019,
            -0.0708728245576313
        ],
        "target_point_next": [
            92.00956704256413,
            -0.14379416279541568
        ]
    },
    "70": {
        "acceleration": [
            0.7343482971191406,
            0.15994563698768616,
            0.00044308602809906006
        ],
        "angular_velocity": [
            0.1431725025177002,
            -1.6295162439346313,
            -2.8691835403442383
        ],
        "forward_vector": [
            -0.9998781681060791,
            0.008775018155574799,
            0.012911198660731316
        ],
        "right_vector": [
            -0.008786007761955261,
            -0.9999610781669617,
            -0.0007947523845359683
        ],
        "location": [
            719.9579467773438,
            4286.853515625,
            369.564453125
        ],
        "rotation": [
            0.04553975537419319,
            0.7397777438163757,
            179.49717712402344
        ],
        "velocity": [
            -10.456180572509766,
            0.10114942491054535,
            0.06068730354309082
        ],
        "speed": 10.45666980310129,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.376501083374023,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                703.5817260742188,
                4286.8681640625,
                369.6590881347656
            ],
            "velocity": [
                -7.863468647003174,
                0.03072751685976982,
                0.045475032180547714
            ],
            "speed_kmh": 28.30917662390324,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.147534370422363,
                "transform": {
                    "location": {
                        "x": 679.8180541992188,
                        "y": 4296.943359375,
                        "z": 369.7958984375
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -0.3182389736175537,
                        "yaw": -0.25628662109375
                    }
                },
                "velocity": {
                    "x": 8.147318840026855,
                    "y": -0.03870652616024017,
                    "z": -0.04488031938672066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.079609870910645,
                "transform": {
                    "location": {
                        "x": 680.1641845703125,
                        "y": 4293.693359375,
                        "z": 369.80322265625
                    },
                    "rotation": {
                        "roll": 0.0019239631947129965,
                        "pitch": -0.3233274817466736,
                        "yaw": -0.2817077338695526
                    }
                },
                "velocity": {
                    "x": 8.079384803771973,
                    "y": -0.04023205116391182,
                    "z": -0.044849880039691925
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1941115856170654,
                "transform": {
                    "location": {
                        "x": 754.6071166992188,
                        "y": 4286.07568359375,
                        "z": 369.36175537109375
                    },
                    "rotation": {
                        "roll": 0.002377614378929138,
                        "pitch": 0.35922011733055115,
                        "yaw": 177.5079803466797
                    }
                },
                "velocity": {
                    "x": -2.191971778869629,
                    "y": 0.09589012712240219,
                    "z": 0.013797272928059101
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.42909049987793,
                "transform": {
                    "location": {
                        "x": 741.2001342773438,
                        "y": 4286.578125,
                        "z": 369.44720458984375
                    },
                    "rotation": {
                        "roll": 0.021288814023137093,
                        "pitch": 0.7387190461158752,
                        "yaw": 179.68899536132812
                    }
                },
                "velocity": {
                    "x": -5.428606986999512,
                    "y": 0.06447391211986542,
                    "z": 0.033090658485889435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8636603355407715,
                "transform": {
                    "location": {
                        "x": 703.5817260742188,
                        "y": 4286.8681640625,
                        "z": 369.6590881347656
                    },
                    "rotation": {
                        "roll": 0.010484299622476101,
                        "pitch": 0.8867975473403931,
                        "yaw": 179.84164428710938
                    }
                },
                "velocity": {
                    "x": -7.863468647003174,
                    "y": 0.03072751685976982,
                    "z": 0.045475032180547714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.9189229011535645,
                "transform": {
                    "location": {
                        "x": 686.8712158203125,
                        "y": 4286.96337890625,
                        "z": 369.7953796386719
                    },
                    "rotation": {
                        "roll": 0.0017125798622146249,
                        "pitch": 0.3143116235733032,
                        "yaw": 179.74847412109375
                    }
                },
                "velocity": {
                    "x": -7.918719291687012,
                    "y": 0.03463706374168396,
                    "z": 0.04495878145098686
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.047444343566895,
                "transform": {
                    "location": {
                        "x": 746.1273193359375,
                        "y": 4289.6484375,
                        "z": 369.42181396484375
                    },
                    "rotation": {
                        "roll": 0.010731637477874756,
                        "pitch": 0.2979191839694977,
                        "yaw": 178.1370849609375
                    }
                },
                "velocity": {
                    "x": -10.042609214782715,
                    "y": 0.30589550733566284,
                    "z": 0.059674110263586044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.418067932128906,
                "transform": {
                    "location": {
                        "x": 730.4203491210938,
                        "y": 4289.939453125,
                        "z": 369.5125427246094
                    },
                    "rotation": {
                        "roll": 0.0015617581084370613,
                        "pitch": 0.4129805266857147,
                        "yaw": 179.5707550048828
                    }
                },
                "velocity": {
                    "x": -9.417662620544434,
                    "y": 0.06782463192939758,
                    "z": 0.05512164160609245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.341159343719482,
                "transform": {
                    "location": {
                        "x": 709.327392578125,
                        "y": 4290.1025390625,
                        "z": 369.6658020019531
                    },
                    "rotation": {
                        "roll": 0.003970598801970482,
                        "pitch": 0.4117306172847748,
                        "yaw": 179.99392700195312
                    }
                },
                "velocity": {
                    "x": -5.341063499450684,
                    "y": 0.011645819991827011,
                    "z": 0.029831932857632637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.638978004455566,
                "transform": {
                    "location": {
                        "x": 692.0530395507812,
                        "y": 4290.19189453125,
                        "z": 369.7243957519531
                    },
                    "rotation": {
                        "roll": 0.0026137938257306814,
                        "pitch": 0.37003231048583984,
                        "yaw": 179.87173461914062
                    }
                },
                "velocity": {
                    "x": -8.638811111450195,
                    "y": 0.021695613861083984,
                    "z": 0.048989780247211456
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.006359739229083061,
        "expert_target_speed": 9.845062603634776,
        "target_point": [
            38.42141902491336,
            0.10231114426915089
        ],
        "target_point_next": [
            89.42118781838026,
            0.24811182826090783
        ]
    },
    "75": {
        "acceleration": [
            8.415813446044922,
            0.056702494621276855,
            -0.05084417760372162
        ],
        "angular_velocity": [
            -0.0033675499726086855,
            -2.6124680042266846,
            -0.6166225075721741
        ],
        "forward_vector": [
            -0.9998970627784729,
            0.012815247289836407,
            0.006446435581892729
        ],
        "right_vector": [
            -0.01282147504389286,
            -0.9999173879623413,
            -0.0009257016354240477
        ],
        "location": [
            717.3928833007812,
            4286.8828125,
            369.5806884765625
        ],
        "rotation": [
            0.05303990840911865,
            0.3693561255931854,
            179.2657012939453
        ],
        "velocity": [
            -9.858994483947754,
            0.13685329258441925,
            0.057969093322753906
        ],
        "speed": 9.859944272570887,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.798848152160645,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                701.5942993164062,
                4286.8759765625,
                369.6717529296875
            ],
            "velocity": [
                -7.816594123840332,
                0.03578551113605499,
                0.044612206518650055
            ],
            "speed_kmh": 28.14049204527673,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 640.8103637695312,
                        "y": 4297.07958984375,
                        "z": 370.11029052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.29892322421073914,
                        "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": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 640.7911376953125,
                        "y": 4293.82958984375,
                        "z": 370.11029052734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.29892322421073914,
                        "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": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08183765411377,
                "transform": {
                    "location": {
                        "x": 681.8572998046875,
                        "y": 4296.93359375,
                        "z": 369.78448486328125
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": -0.32037684321403503,
                        "yaw": -0.2763671576976776
                    }
                },
                "velocity": {
                    "x": 8.081610679626465,
                    "y": -0.04015606269240379,
                    "z": -0.04541151970624924
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.3064603805542,
                "transform": {
                    "location": {
                        "x": 682.2135620117188,
                        "y": 4293.68310546875,
                        "z": 369.791748046875
                    },
                    "rotation": {
                        "roll": 0.0014348087133839726,
                        "pitch": -0.319304496049881,
                        "yaw": -0.3002013564109802
                    }
                },
                "velocity": {
                    "x": 8.306212425231934,
                    "y": -0.04460460692644119,
                    "z": -0.04616834968328476
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.14038412272930145,
                "transform": {
                    "location": {
                        "x": 754.3896484375,
                        "y": 4286.08447265625,
                        "z": 369.3634948730469
                    },
                    "rotation": {
                        "roll": 0.0006449140491895378,
                        "pitch": 0.30181920528411865,
                        "yaw": 177.4786376953125
                    }
                },
                "velocity": {
                    "x": -0.14024004340171814,
                    "y": 0.006190489511936903,
                    "z": 0.0014520167605951428
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.845584392547607,
                "transform": {
                    "location": {
                        "x": 739.7145385742188,
                        "y": 4286.5947265625,
                        "z": 369.4571533203125
                    },
                    "rotation": {
                        "roll": 0.012305782176554203,
                        "pitch": 0.6098607182502747,
                        "yaw": 179.46347045898438
                    }
                },
                "velocity": {
                    "x": -6.844886779785156,
                    "y": 0.08921713382005692,
                    "z": 0.03989829868078232
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.816803455352783,
                "transform": {
                    "location": {
                        "x": 701.5942993164062,
                        "y": 4286.8759765625,
                        "z": 369.6717529296875
                    },
                    "rotation": {
                        "roll": 0.009691094048321247,
                        "pitch": 0.5790360569953918,
                        "yaw": 179.74925231933594
                    }
                },
                "velocity": {
                    "x": -7.816594123840332,
                    "y": 0.03578551113605499,
                    "z": 0.044612206518650055
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.104074478149414,
                "transform": {
                    "location": {
                        "x": 684.8656616210938,
                        "y": 4286.97314453125,
                        "z": 369.8065185546875
                    },
                    "rotation": {
                        "roll": 0.002025936497375369,
                        "pitch": 0.3346450924873352,
                        "yaw": 179.7212677001953
                    }
                },
                "velocity": {
                    "x": -8.103837966918945,
                    "y": 0.04188060760498047,
                    "z": 0.04554806649684906
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.923079490661621,
                "transform": {
                    "location": {
                        "x": 743.771728515625,
                        "y": 4289.72021484375,
                        "z": 369.4345703125
                    },
                    "rotation": {
                        "roll": 0.0016462219646200538,
                        "pitch": 0.4277473986148834,
                        "yaw": 178.26853942871094
                    }
                },
                "velocity": {
                    "x": -8.918971061706543,
                    "y": 0.2654922902584076,
                    "z": 0.05303572490811348
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.083536148071289,
                "transform": {
                    "location": {
                        "x": 728.1481323242188,
                        "y": 4289.95556640625,
                        "z": 369.5260314941406
                    },
                    "rotation": {
                        "roll": 0.0015170661499723792,
                        "pitch": 0.3811928331851959,
                        "yaw": 179.59725952148438
                    }
                },
                "velocity": {
                    "x": -9.083169937133789,
                    "y": 0.06183677911758423,
                    "z": 0.05324767902493477
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.784947395324707,
                "transform": {
                    "location": {
                        "x": 707.9443359375,
                        "y": 4290.10595703125,
                        "z": 369.6740417480469
                    },
                    "rotation": {
                        "roll": 0.0032203232403844595,
                        "pitch": 0.37876129150390625,
                        "yaw": 179.92498779296875
                    }
                },
                "velocity": {
                    "x": -5.7848381996154785,
                    "y": 0.011887063272297382,
                    "z": 0.033511266112327576
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.321105003356934,
                "transform": {
                    "location": {
                        "x": 689.9263916015625,
                        "y": 4290.1982421875,
                        "z": 369.73681640625
                    },
                    "rotation": {
                        "roll": 0.0034366215113550425,
                        "pitch": 0.3260185718536377,
                        "yaw": 179.79371643066406
                    }
                },
                "velocity": {
                    "x": -8.320910453796387,
                    "y": 0.030141456052660942,
                    "z": 0.048352841287851334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.02471250295639038,
        "expert_target_speed": 9.47019529903269,
        "target_point": [
            35.85546391641396,
            0.2539462597659081
        ],
        "target_point_next": [
            86.85422756126289,
            0.6057722442643525
        ]
    },
    "80": {
        "acceleration": [
            4.7898101806640625,
            0.05481719970703125,
            -0.04559651017189026
        ],
        "angular_velocity": [
            -0.07253018766641617,
            -0.6238363981246948,
            -1.3071439266204834
        ],
        "forward_vector": [
            -0.9998522400856018,
            0.01711798459291458,
            -0.001587628503330052
        ],
        "right_vector": [
            -0.017116522416472435,
            -0.9998530745506287,
            -0.0009308800217695534
        ],
        "location": [
            715.152099609375,
            4286.91845703125,
            369.5954895019531
        ],
        "rotation": [
            0.05333556979894638,
            -0.09096445143222809,
            179.0191650390625
        ],
        "velocity": [
            -8.337458610534668,
            0.15352466702461243,
            0.04825777933001518
        ],
        "speed": 8.338871980415798,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.469585418701172,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                699.6828002929688,
                4286.88525390625,
                369.68353271484375
            ],
            "velocity": [
                -7.630046844482422,
                0.03787655383348465,
                0.04488753154873848
            ],
            "speed_kmh": 27.468982403279565,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.8818969726562,
                        "y": 4297.0673828125,
                        "z": 370.00299072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "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": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.8626708984375,
                        "y": 4293.8173828125,
                        "z": 370.00299072265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.30356091260910034,
                        "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": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.024406433105469,
                "transform": {
                    "location": {
                        "x": 683.86328125,
                        "y": 4296.923828125,
                        "z": 369.7732849121094
                    },
                    "rotation": {
                        "roll": -9.15526325115934e-05,
                        "pitch": -0.3242495656013489,
                        "yaw": -0.3019409477710724
                    }
                },
                "velocity": {
                    "x": 8.024161338806152,
                    "y": -0.04387552663683891,
                    "z": -0.044807035475969315
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.089156150817871,
                "transform": {
                    "location": {
                        "x": 684.2617797851562,
                        "y": 4293.671875,
                        "z": 369.7803039550781
                    },
                    "rotation": {
                        "roll": 0.0003371523634996265,
                        "pitch": -0.32552680373191833,
                        "yaw": -0.3105162978172302
                    }
                },
                "velocity": {
                    "x": 8.088909149169922,
                    "y": -0.04449471831321716,
                    "z": -0.044888757169246674
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9243655800819397,
                "transform": {
                    "location": {
                        "x": 754.25390625,
                        "y": 4286.09033203125,
                        "z": 369.364013671875
                    },
                    "rotation": {
                        "roll": 0.0007539603393524885,
                        "pitch": 0.34973981976509094,
                        "yaw": 177.4320831298828
                    }
                },
                "velocity": {
                    "x": -0.9234346747398376,
                    "y": 0.04131482541561127,
                    "z": 0.00363750453107059
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.024699211120605,
                "transform": {
                    "location": {
                        "x": 737.814697265625,
                        "y": 4286.61767578125,
                        "z": 369.4679260253906
                    },
                    "rotation": {
                        "roll": -0.006896973587572575,
                        "pitch": 0.6319358944892883,
                        "yaw": 179.405029296875
                    }
                },
                "velocity": {
                    "x": -8.024056434631348,
                    "y": 0.09006358683109283,
                    "z": 0.046909790486097336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.63027286529541,
                "transform": {
                    "location": {
                        "x": 699.6828002929688,
                        "y": 4286.88525390625,
                        "z": 369.68353271484375
                    },
                    "rotation": {
                        "roll": 0.00840528029948473,
                        "pitch": 0.3486538231372833,
                        "yaw": 179.7407684326172
                    }
                },
                "velocity": {
                    "x": -7.630046844482422,
                    "y": 0.03787655383348465,
                    "z": 0.04488753154873848
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.990671157836914,
                "transform": {
                    "location": {
                        "x": 682.8516235351562,
                        "y": 4286.98388671875,
                        "z": 369.81793212890625
                    },
                    "rotation": {
                        "roll": 0.0019212125334888697,
                        "pitch": 0.31877174973487854,
                        "yaw": 179.69639587402344
                    }
                },
                "velocity": {
                    "x": -7.990418434143066,
                    "y": 0.04499863088130951,
                    "z": 0.044889897108078
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.158992290496826,
                "transform": {
                    "location": {
                        "x": 741.7195434570312,
                        "y": 4289.77001953125,
                        "z": 369.4459533691406
                    },
                    "rotation": {
                        "roll": 0.00854930654168129,
                        "pitch": 0.5076674222946167,
                        "yaw": 178.62953186035156
                    }
                },
                "velocity": {
                    "x": -7.157318592071533,
                    "y": 0.14924389123916626,
                    "z": 0.04108292609453201
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.212000846862793,
                "transform": {
                    "location": {
                        "x": 725.830078125,
                        "y": 4289.97119140625,
                        "z": 369.5400390625
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": 0.3198167681694031,
                        "yaw": 179.61004638671875
                    }
                },
                "velocity": {
                    "x": -9.211638450622559,
                    "y": 0.06272909045219421,
                    "z": 0.052305515855550766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.23661994934082,
                "transform": {
                    "location": {
                        "x": 706.11279296875,
                        "y": 4290.10986328125,
                        "z": 369.6832580566406
                    },
                    "rotation": {
                        "roll": 0.003220394952222705,
                        "pitch": 0.5364293456077576,
                        "yaw": 179.88633728027344
                    }
                },
                "velocity": {
                    "x": -8.23646068572998,
                    "y": 0.020548641681671143,
                    "z": 0.04693760722875595
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.994510173797607,
                "transform": {
                    "location": {
                        "x": 687.8917846679688,
                        "y": 4290.20556640625,
                        "z": 369.74859619140625
                    },
                    "rotation": {
                        "roll": 0.003338657086715102,
                        "pitch": 0.31395646929740906,
                        "yaw": 179.7315216064453
                    }
                },
                "velocity": {
                    "x": -7.994303226470947,
                    "y": 0.03665781766176224,
                    "z": 0.0443137064576149
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05373510345816612,
        "expert_target_speed": 8.48756254543836,
        "target_point": [
            33.61297372419882,
            0.4055111799317688
        ],
        "target_point_next": [
            84.60975133782674,
            0.976779814385837
        ]
    },
    "85": {
        "acceleration": [
            0.11508941650390625,
            0.07683992385864258,
            0.00109843909740448
        ],
        "angular_velocity": [
            0.009877200238406658,
            1.144373893737793,
            -0.4184725284576416
        ],
        "forward_vector": [
            -0.9997949004173279,
            0.02024717815220356,
            -0.00043034550617448986
        ],
        "right_vector": [
            -0.02024685963988304,
            -0.9997947812080383,
            -0.0007294814568012953
        ],
        "location": [
            713.173828125,
            4286.95751953125,
            369.60675048828125
        ],
        "rotation": [
            0.04179621487855911,
            -0.024656981229782104,
            178.83984375
        ],
        "velocity": [
            -7.736553192138672,
            0.1671094298362732,
            0.04490850493311882
        ],
        "speed": 7.738357762234263,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 70.6854248046875,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.012921333312988,
                "transform": {
                    "location": {
                        "x": 644.9530639648438,
                        "y": 4297.056640625,
                        "z": 369.9905700683594
                    },
                    "rotation": {
                        "roll": -0.01684570126235485,
                        "pitch": -0.3378894329071045,
                        "yaw": -0.2705993354320526
                    }
                },
                "velocity": {
                    "x": 8.01275634765625,
                    "y": -0.00724067073315382,
                    "z": -0.050928037613630295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047064781188965,
                "transform": {
                    "location": {
                        "x": 644.9349975585938,
                        "y": 4293.806640625,
                        "z": 369.99078369140625
                    },
                    "rotation": {
                        "roll": -0.0248718224465847,
                        "pitch": -0.34176215529441833,
                        "yaw": -0.2763061225414276
                    }
                },
                "velocity": {
                    "x": 8.046932220458984,
                    "y": -0.0038426625542342663,
                    "z": -0.0460289902985096
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.094179153442383,
                "transform": {
                    "location": {
                        "x": 685.8803100585938,
                        "y": 4296.912109375,
                        "z": 369.7618713378906
                    },
                    "rotation": {
                        "roll": -0.0005187986535020173,
                        "pitch": -0.3224737048149109,
                        "yaw": -0.3151550889015198
                    }
                },
                "velocity": {
                    "x": 8.09393310546875,
                    "y": -0.04447481408715248,
                    "z": -0.04469660669565201
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.316479682922363,
                "transform": {
                    "location": {
                        "x": 686.3136596679688,
                        "y": 4293.66015625,
                        "z": 369.7687072753906
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -0.32378509640693665,
                        "yaw": -0.3140563666820526
                    }
                },
                "velocity": {
                    "x": 8.3162260055542,
                    "y": -0.0454833023250103,
                    "z": -0.04634561389684677
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7008605003356934,
                "transform": {
                    "location": {
                        "x": 753.9299926757812,
                        "y": 4286.1044921875,
                        "z": 369.36572265625
                    },
                    "rotation": {
                        "roll": 0.001187547342851758,
                        "pitch": 0.3594045341014862,
                        "yaw": 177.40113830566406
                    }
                },
                "velocity": {
                    "x": -1.699156641960144,
                    "y": 0.07545455545186996,
                    "z": 0.009988422505557537
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.647894859313965,
                "transform": {
                    "location": {
                        "x": 735.5812377929688,
                        "y": 4286.6416015625,
                        "z": 369.4806823730469
                    },
                    "rotation": {
                        "roll": -0.006988523993641138,
                        "pitch": 0.6806351542472839,
                        "yaw": 179.40475463867188
                    }
                },
                "velocity": {
                    "x": -9.647209167480469,
                    "y": 0.10009048879146576,
                    "z": 0.056657664477825165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.788763523101807,
                "transform": {
                    "location": {
                        "x": 624.5498046875,
                        "y": 4287.42578125,
                        "z": 370.27960205078125
                    },
                    "rotation": {
                        "roll": -0.0015258785570040345,
                        "pitch": 0.2853243052959442,
                        "yaw": 179.79815673828125
                    }
                },
                "velocity": {
                    "x": -7.7759222984313965,
                    "y": 0.04004841297864914,
                    "z": -0.44527724385261536
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.989516258239746,
                "transform": {
                    "location": {
                        "x": 607.65478515625,
                        "y": 4287.5244140625,
                        "z": 370.361083984375
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": 0.2702159285545349,
                        "yaw": 179.6609649658203
                    }
                },
                "velocity": {
                    "x": -7.977033615112305,
                    "y": 0.04293074458837509,
                    "z": -0.44436484575271606
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.008267402648926,
                "transform": {
                    "location": {
                        "x": 739.9762573242188,
                        "y": 4289.806640625,
                        "z": 369.4570617675781
                    },
                    "rotation": {
                        "roll": 0.0015921450685709715,
                        "pitch": 0.3816094696521759,
                        "yaw": 178.73562622070312
                    }
                },
                "velocity": {
                    "x": -7.006647109985352,
                    "y": 0.1451372653245926,
                    "z": 0.04050667583942413
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.455351829528809,
                "transform": {
                    "location": {
                        "x": 723.64453125,
                        "y": 4289.9853515625,
                        "z": 369.55206298828125
                    },
                    "rotation": {
                        "roll": 0.0008230864186771214,
                        "pitch": 0.39649927616119385,
                        "yaw": 179.6166229248047
                    }
                },
                "velocity": {
                    "x": -8.455022811889648,
                    "y": 0.05648638680577278,
                    "z": 0.04881511628627777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.854135513305664,
                "transform": {
                    "location": {
                        "x": 704.0697021484375,
                        "y": 4290.11669921875,
                        "z": 369.6966247558594
                    },
                    "rotation": {
                        "roll": 0.0046497369185090065,
                        "pitch": 0.3590288758277893,
                        "yaw": 179.7961883544922
                    }
                },
                "velocity": {
                    "x": -7.853929042816162,
                    "y": 0.032934851944446564,
                    "z": 0.04645966365933418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.948360443115234,
                "transform": {
                    "location": {
                        "x": 685.904052734375,
                        "y": 4290.21484375,
                        "z": 369.7596740722656
                    },
                    "rotation": {
                        "roll": 0.00039386158459819853,
                        "pitch": 0.32000118494033813,
                        "yaw": 179.69664001464844
                    }
                },
                "velocity": {
                    "x": -7.948129653930664,
                    "y": 0.0401029996573925,
                    "z": 0.045407600700855255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08147154748439789,
        "expert_target_speed": 10.0,
        "target_point": [
            31.632882991900633,
            0.5097166500621059
        ],
        "target_point_next": [
            82.62762276254941,
            1.2406000541321647
        ]
    },
    "90": {
        "acceleration": [
            -3.2668495178222656,
            -0.0792357325553894,
            0.014533400535583496
        ],
        "angular_velocity": [
            -0.12111077457666397,
            1.433983325958252,
            0.5902339816093445
        ],
        "forward_vector": [
            -0.999780535697937,
            0.020085686817765236,
            0.005955064203590155
        ],
        "right_vector": [
            -0.0200851671397686,
            -0.9997982382774353,
            0.00014700385509058833
        ],
        "location": [
            711.179931640625,
            4286.99853515625,
            369.6170349121094
        ],
        "rotation": [
            -0.00842284969985485,
            0.3412020802497864,
            178.8490753173828
        ],
        "velocity": [
            -8.290223121643066,
            0.15345601737499237,
            0.04691489040851593
        ],
        "speed": 8.29164327234921,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 68.69210052490234,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.204145431518555,
                "transform": {
                    "location": {
                        "x": 646.9811401367188,
                        "y": 4297.064453125,
                        "z": 369.9783935546875
                    },
                    "rotation": {
                        "roll": -0.02175903134047985,
                        "pitch": -0.3135671317577362,
                        "yaw": 0.2832271456718445
                    }
                },
                "velocity": {
                    "x": 8.203949928283691,
                    "y": 0.0342828743159771,
                    "z": -0.045118723064661026
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.229693412780762,
                "transform": {
                    "location": {
                        "x": 646.9708251953125,
                        "y": 4293.81494140625,
                        "z": 369.9797668457031
                    },
                    "rotation": {
                        "roll": -0.029693597927689552,
                        "pitch": -0.3151790499687195,
                        "yaw": 0.2556940019130707
                    }
                },
                "velocity": {
                    "x": 8.229500770568848,
                    "y": 0.03440333530306816,
                    "z": -0.04454069957137108
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.071497917175293,
                "transform": {
                    "location": {
                        "x": 687.90234375,
                        "y": 4296.900390625,
                        "z": 369.75048828125
                    },
                    "rotation": {
                        "roll": 2.7137346478411928e-05,
                        "pitch": -0.3248301148414612,
                        "yaw": -0.3214111328125
                    }
                },
                "velocity": {
                    "x": 8.071245193481445,
                    "y": -0.04523536190390587,
                    "z": -0.04521884396672249
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.098991394042969,
                "transform": {
                    "location": {
                        "x": 688.3643798828125,
                        "y": 4293.6484375,
                        "z": 369.75714111328125
                    },
                    "rotation": {
                        "roll": 0.001682520960457623,
                        "pitch": -0.3272343575954437,
                        "yaw": -0.3240050971508026
                    }
                },
                "velocity": {
                    "x": 8.098736763000488,
                    "y": -0.0457557812333107,
                    "z": -0.04517360404133797
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.4326863288879395,
                "transform": {
                    "location": {
                        "x": 753.4105224609375,
                        "y": 4286.1259765625,
                        "z": 369.368896484375
                    },
                    "rotation": {
                        "roll": 0.0012529173400253057,
                        "pitch": 0.3591245114803314,
                        "yaw": 177.47740173339844
                    }
                },
                "velocity": {
                    "x": -2.4307844638824463,
                    "y": 0.09510057419538498,
                    "z": 0.014314336702227592
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.40873908996582,
                "transform": {
                    "location": {
                        "x": 733.0924682617188,
                        "y": 4286.6669921875,
                        "z": 369.4964294433594
                    },
                    "rotation": {
                        "roll": -0.006866455543786287,
                        "pitch": 0.5366547703742981,
                        "yaw": 179.4247589111328
                    }
                },
                "velocity": {
                    "x": -10.408120155334473,
                    "y": 0.09575508534908295,
                    "z": 0.060958582907915115
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9635009765625,
                        "y": 4287.42333984375,
                        "z": 370.2301940917969
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.562948226928711,
                "transform": {
                    "location": {
                        "x": 738.1469116210938,
                        "y": 4289.84228515625,
                        "z": 369.468505859375
                    },
                    "rotation": {
                        "roll": 0.011544199660420418,
                        "pitch": 0.2880631983280182,
                        "yaw": 178.93324279785156
                    }
                },
                "velocity": {
                    "x": -7.562106609344482,
                    "y": 0.10376167297363281,
                    "z": 0.04434685781598091
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.842374801635742,
                "transform": {
                    "location": {
                        "x": 721.4984741210938,
                        "y": 4289.99951171875,
                        "z": 369.5653076171875
                    },
                    "rotation": {
                        "roll": 0.0014309175312519073,
                        "pitch": 0.3066140115261078,
                        "yaw": 179.6208038330078
                    }
                },
                "velocity": {
                    "x": -8.842036247253418,
                    "y": 0.05849743261933327,
                    "z": 0.05058738589286804
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.372637748718262,
                "transform": {
                    "location": {
                        "x": 702.1864013671875,
                        "y": 4290.12451171875,
                        "z": 369.7081604003906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.2924276888370514,
                        "yaw": 179.7560577392578
                    }
                },
                "velocity": {
                    "x": -7.372439861297607,
                    "y": 0.03348793461918831,
                    "z": 0.04241015389561653
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.980844497680664,
                "transform": {
                    "location": {
                        "x": 683.91357421875,
                        "y": 4290.22509765625,
                        "z": 369.77081298828125
                    },
                    "rotation": {
                        "roll": 0.00016118580242618918,
                        "pitch": 0.32426321506500244,
                        "yaw": 179.6807403564453
                    }
                },
                "velocity": {
                    "x": -7.980599403381348,
                    "y": 0.043930087238550186,
                    "z": 0.0445062629878521
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09615779668092728,
        "expert_target_speed": 10.0,
        "target_point": [
            29.63864666521826,
            0.5055765275345045
        ],
        "target_point_next": [
            80.63350357072436,
            1.2282410510105095
        ]
    },
    "95": {
        "acceleration": [
            0.12508392333984375,
            -0.13805478811264038,
            -0.003565177321434021
        ],
        "angular_velocity": [
            -0.02269832231104374,
            -0.34542161226272583,
            1.523250937461853
        ],
        "forward_vector": [
            -0.9998423457145691,
            0.014727678149938583,
            0.009916618466377258
        ],
        "right_vector": [
            -0.014719327911734581,
            -0.9998912215232849,
            0.0009144841460511088
        ],
        "location": [
            708.9939575195312,
            4287.0322265625,
            369.62884521484375
        ],
        "rotation": [
            -0.052398666739463806,
            0.5681897401809692,
            179.15609741210938
        ],
        "velocity": [
            -8.979430198669434,
            0.11304331570863724,
            0.052793148905038834
        ],
        "speed": 8.980141729616687,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 66.50667572021484,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.004623413085938,
                "transform": {
                    "location": {
                        "x": 649.0062255859375,
                        "y": 4297.07177734375,
                        "z": 369.9674072265625
                    },
                    "rotation": {
                        "roll": -0.005920410621911287,
                        "pitch": -0.31194838881492615,
                        "yaw": 0.20690535008907318
                    }
                },
                "velocity": {
                    "x": 8.004462242126465,
                    "y": 0.025747917592525482,
                    "z": -0.04371412470936775
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04462718963623,
                "transform": {
                    "location": {
                        "x": 649.0045166015625,
                        "y": 4293.82177734375,
                        "z": 369.96893310546875
                    },
                    "rotation": {
                        "roll": -0.0035095219500362873,
                        "pitch": -0.31228989362716675,
                        "yaw": 0.20275729894638062
                    }
                },
                "velocity": {
                    "x": 8.044472694396973,
                    "y": 0.025003477931022644,
                    "z": -0.04317730665206909
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.044769287109375,
                "transform": {
                    "location": {
                        "x": 689.9141235351562,
                        "y": 4296.888671875,
                        "z": 369.7391052246094
                    },
                    "rotation": {
                        "roll": -0.0004577638173941523,
                        "pitch": -0.32470718026161194,
                        "yaw": -0.32421875
                    }
                },
                "velocity": {
                    "x": 8.044511795043945,
                    "y": -0.045582160353660583,
                    "z": -0.04546412453055382
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.325725555419922,
                "transform": {
                    "location": {
                        "x": 690.4185791015625,
                        "y": 4293.63671875,
                        "z": 369.7454528808594
                    },
                    "rotation": {
                        "roll": 0.00029192963847890496,
                        "pitch": -0.32388073205947876,
                        "yaw": -0.330718994140625
                    }
                },
                "velocity": {
                    "x": 8.325456619262695,
                    "y": -0.04796619713306427,
                    "z": -0.04674916714429855
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2060320377349854,
                "transform": {
                    "location": {
                        "x": 752.6989135742188,
                        "y": 4286.15478515625,
                        "z": 369.37310791015625
                    },
                    "rotation": {
                        "roll": 0.0003678301291074604,
                        "pitch": 0.3565358519554138,
                        "yaw": 177.57656860351562
                    }
                },
                "velocity": {
                    "x": -3.2035624980926514,
                    "y": 0.1244090348482132,
                    "z": 0.01873217523097992
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.800773620605469,
                "transform": {
                    "location": {
                        "x": 730.5416259765625,
                        "y": 4286.689453125,
                        "z": 369.5133972167969
                    },
                    "rotation": {
                        "roll": -0.011993409134447575,
                        "pitch": 0.2720942199230194,
                        "yaw": 179.5398406982422
                    }
                },
                "velocity": {
                    "x": -9.800299644470215,
                    "y": 0.07722437381744385,
                    "z": 0.0577055998146534
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9635009765625,
                        "y": 4287.42333984375,
                        "z": 370.2301940917969
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.262516021728516,
                "transform": {
                    "location": {
                        "x": 736.064453125,
                        "y": 4289.87158203125,
                        "z": 369.48162841796875
                    },
                    "rotation": {
                        "roll": 0.004486582707613707,
                        "pitch": 0.17194317281246185,
                        "yaw": 179.18435668945312
                    }
                },
                "velocity": {
                    "x": -9.261606216430664,
                    "y": 0.11840005964040756,
                    "z": 0.053243111819028854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.875516891479492,
                "transform": {
                    "location": {
                        "x": 719.2364501953125,
                        "y": 4290.013671875,
                        "z": 369.5782470703125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.3262166380882263,
                        "yaw": 179.6324462890625
                    }
                },
                "velocity": {
                    "x": -8.8751802444458,
                    "y": 0.05692518502473831,
                    "z": 0.052333228290081024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.994613170623779,
                "transform": {
                    "location": {
                        "x": 700.2837524414062,
                        "y": 4290.13232421875,
                        "z": 369.7184753417969
                    },
                    "rotation": {
                        "roll": 0.0011138066183775663,
                        "pitch": 0.37463584542274475,
                        "yaw": 179.73477172851562
                    }
                },
                "velocity": {
                    "x": -7.994379043579102,
                    "y": 0.04109852761030197,
                    "z": 0.04536132887005806
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.042658805847168,
                "transform": {
                    "location": {
                        "x": 681.9088745117188,
                        "y": 4290.23681640625,
                        "z": 369.7821350097656
                    },
                    "rotation": {
                        "roll": 4.290717697585933e-06,
                        "pitch": 0.3220843970775604,
                        "yaw": 179.67431640625
                    }
                },
                "velocity": {
                    "x": -8.042407035827637,
                    "y": 0.04505163058638573,
                    "z": 0.04497278109192848
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09199397265911102,
        "expert_target_speed": 10.0,
        "target_point": [
            27.454697106989634,
            0.34823825322985663
        ],
        "target_point_next": [
            78.4526943606598,
            0.7976277737830993
        ]
    },
    "100": {
        "acceleration": [
            0.49335479736328125,
            -0.1953577995300293,
            -0.0029001384973526
        ],
        "angular_velocity": [
            -0.01726893149316311,
            -0.796455979347229,
            -1.005114197731018
        ],
        "forward_vector": [
            -0.9998993277549744,
            0.009449915960431099,
            0.010587137192487717
        ],
        "right_vector": [
            -0.00943847931921482,
            -0.9999548196792603,
            0.0011296491138637066
        ],
        "location": [
            706.6485595703125,
            4287.056640625,
            369.642333984375
        ],
        "rotation": [
            -0.0647277683019638,
            0.606609582901001,
            179.45852661132812
        ],
        "velocity": [
            -9.581900596618652,
            0.07218735665082932,
            0.056714970618486404
        ],
        "speed": 9.582172512428542,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 64.1617660522461,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.196402549743652,
                "transform": {
                    "location": {
                        "x": 651.0323486328125,
                        "y": 4297.07763671875,
                        "z": 369.95660400390625
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": -0.30321940779685974,
                        "yaw": 0.15398836135864258
                    }
                },
                "velocity": {
                    "x": 8.196255683898926,
                    "y": 0.020867150276899338,
                    "z": -0.04447751119732857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.227980613708496,
                "transform": {
                    "location": {
                        "x": 651.0392456054688,
                        "y": 4293.82763671875,
                        "z": 369.9581298828125
                    },
                    "rotation": {
                        "roll": -0.0006103514460846782,
                        "pitch": -0.30263882875442505,
                        "yaw": 0.15737898647785187
                    }
                },
                "velocity": {
                    "x": 8.22783374786377,
                    "y": 0.021904978901147842,
                    "z": -0.04395766928792
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09800910949707,
                "transform": {
                    "location": {
                        "x": 691.9336547851562,
                        "y": 4296.876953125,
                        "z": 369.72760009765625
                    },
                    "rotation": {
                        "roll": 0.001135256257839501,
                        "pitch": -0.3262917697429657,
                        "yaw": -0.32501220703125
                    }
                },
                "velocity": {
                    "x": 8.09775447845459,
                    "y": -0.045867253094911575,
                    "z": -0.04484151676297188
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.108440399169922,
                "transform": {
                    "location": {
                        "x": 692.4716796875,
                        "y": 4293.625,
                        "z": 369.73382568359375
                    },
                    "rotation": {
                        "roll": -0.0001525879924884066,
                        "pitch": -0.3303557336330414,
                        "yaw": -0.3316650092601776
                    }
                },
                "velocity": {
                    "x": 8.10817813873291,
                    "y": -0.046931300312280655,
                    "z": -0.04521365836262703
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9177651405334473,
                "transform": {
                    "location": {
                        "x": 751.8060913085938,
                        "y": 4286.18994140625,
                        "z": 369.37841796875
                    },
                    "rotation": {
                        "roll": 0.001100677065551281,
                        "pitch": 0.35495808720588684,
                        "yaw": 177.66140747070312
                    }
                },
                "velocity": {
                    "x": -3.9147748947143555,
                    "y": 0.15129627287387848,
                    "z": 0.023073624819517136
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.10913372039795,
                "transform": {
                    "location": {
                        "x": 728.2061767578125,
                        "y": 4286.70751953125,
                        "z": 369.52838134765625
                    },
                    "rotation": {
                        "roll": -0.006195068825036287,
                        "pitch": 0.10645532608032227,
                        "yaw": 179.60293579101562
                    }
                },
                "velocity": {
                    "x": -9.10876178741455,
                    "y": 0.06321726739406586,
                    "z": 0.05270519107580185
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9635009765625,
                        "y": 4287.42333984375,
                        "z": 370.2301940917969
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.65839958190918,
                "transform": {
                    "location": {
                        "x": 733.7857666015625,
                        "y": 4289.900390625,
                        "z": 369.4934387207031
                    },
                    "rotation": {
                        "roll": 0.0003653347084764391,
                        "pitch": 0.3482440114021301,
                        "yaw": 179.29029846191406
                    }
                },
                "velocity": {
                    "x": -8.65760326385498,
                    "y": 0.10566045343875885,
                    "z": 0.051287926733493805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.610489368438721,
                "transform": {
                    "location": {
                        "x": 717.1376953125,
                        "y": 4290.02685546875,
                        "z": 369.5897521972656
                    },
                    "rotation": {
                        "roll": 0.00098962162155658,
                        "pitch": 0.41709232330322266,
                        "yaw": 179.64297485351562
                    }
                },
                "velocity": {
                    "x": -7.610213279724121,
                    "y": 0.04731391370296478,
                    "z": 0.044329822063446045
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.049646377563477,
                "transform": {
                    "location": {
                        "x": 698.236328125,
                        "y": 4290.14306640625,
                        "z": 369.73040771484375
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": 0.3470555543899536,
                        "yaw": 179.7047119140625
                    }
                },
                "velocity": {
                    "x": -8.049386978149414,
                    "y": 0.04369238391518593,
                    "z": 0.04767976701259613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.993278503417969,
                "transform": {
                    "location": {
                        "x": 679.9044189453125,
                        "y": 4290.24853515625,
                        "z": 369.79327392578125
                    },
                    "rotation": {
                        "roll": -0.00030517578125,
                        "pitch": 0.3199465274810791,
                        "yaw": 179.66592407226562
                    }
                },
                "velocity": {
                    "x": -7.993009567260742,
                    "y": 0.04706807807087898,
                    "z": 0.04560408368706703
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08298292756080627,
        "expert_target_speed": 10.0,
        "target_point": [
            25.110628781207996,
            0.2055734480069027
        ],
        "target_point_next": [
            76.11028759047227,
            0.3857848937206027
        ]
    },
    "105": {
        "acceleration": [
            0.45745849609375,
            -0.1925007700920105,
            -0.014024153351783752
        ],
        "angular_velocity": [
            -0.004985477309674025,
            -0.5248298645019531,
            3.4844858646392822
        ],
        "forward_vector": [
            -0.9999750852584839,
            0.003839090233668685,
            0.005918229464441538
        ],
        "right_vector": [
            -0.003832065500319004,
            -0.9999918937683105,
            0.0011978684924542904
        ],
        "location": [
            704.3060913085938,
            4287.0693359375,
            369.656982421875
        ],
        "rotation": [
            -0.0686340257525444,
            0.33909153938293457,
            179.780029296875
        ],
        "velocity": [
            -9.215237617492676,
            0.021771037951111794,
            0.053350046277046204
        ],
        "speed": 9.215263334541534,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 61.81966018676758,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.997707843780518,
                "transform": {
                    "location": {
                        "x": 653.0556640625,
                        "y": 4297.0791015625,
                        "z": 369.94580078125
                    },
                    "rotation": {
                        "roll": 0.0073025100864470005,
                        "pitch": -0.310090571641922,
                        "yaw": -0.00048828122089616954
                    }
                },
                "velocity": {
                    "x": 7.997591972351074,
                    "y": -0.005956444423645735,
                    "z": -0.04261719435453415
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042481422424316,
                "transform": {
                    "location": {
                        "x": 653.0719604492188,
                        "y": 4293.82861328125,
                        "z": 369.9472961425781
                    },
                    "rotation": {
                        "roll": 0.011852751486003399,
                        "pitch": -0.31041842699050903,
                        "yaw": 0.008408642373979092
                    }
                },
                "velocity": {
                    "x": 8.04236125946045,
                    "y": -0.007198140025138855,
                    "z": -0.043337058275938034
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04248046875,
                "transform": {
                    "location": {
                        "x": 693.950439453125,
                        "y": 4296.865234375,
                        "z": 369.71612548828125
                    },
                    "rotation": {
                        "roll": 0.0007392461411654949,
                        "pitch": -0.3283408284187317,
                        "yaw": -0.3301696479320526
                    }
                },
                "velocity": {
                    "x": 8.042221069335938,
                    "y": -0.04640060290694237,
                    "z": -0.04488521069288254
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.33074951171875,
                "transform": {
                    "location": {
                        "x": 694.5276489257812,
                        "y": 4293.61376953125,
                        "z": 369.72210693359375
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": -0.32821789383888245,
                        "yaw": -0.3352966010570526
                    }
                },
                "velocity": {
                    "x": 8.330471992492676,
                    "y": -0.04878748953342438,
                    "z": -0.047305021435022354
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.650042533874512,
                "transform": {
                    "location": {
                        "x": 750.7329711914062,
                        "y": 4286.23193359375,
                        "z": 369.38482666015625
                    },
                    "rotation": {
                        "roll": 0.0005713663995265961,
                        "pitch": 0.35488978028297424,
                        "yaw": 177.72328186035156
                    }
                },
                "velocity": {
                    "x": -4.646523475646973,
                    "y": 0.17899583280086517,
                    "z": 0.025984840467572212
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.6216459274292,
                "transform": {
                    "location": {
                        "x": 725.8816528320312,
                        "y": 4286.72314453125,
                        "z": 369.53955078125
                    },
                    "rotation": {
                        "roll": -0.003173828125,
                        "pitch": 0.4000236690044403,
                        "yaw": 179.62640380859375
                    }
                },
                "velocity": {
                    "x": -9.621281623840332,
                    "y": 0.0635698065161705,
                    "z": 0.05438198894262314
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9635009765625,
                        "y": 4287.42333984375,
                        "z": 370.2301940917969
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.487825393676758,
                "transform": {
                    "location": {
                        "x": 731.7844848632812,
                        "y": 4289.919921875,
                        "z": 369.5043640136719
                    },
                    "rotation": {
                        "roll": 0.002524695359170437,
                        "pitch": 0.43687936663627625,
                        "yaw": 179.40823364257812
                    }
                },
                "velocity": {
                    "x": -7.48743200302124,
                    "y": 0.06259938329458237,
                    "z": 0.04447212070226669
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.864996433258057,
                "transform": {
                    "location": {
                        "x": 715.3882446289062,
                        "y": 4290.0380859375,
                        "z": 369.59991455078125
                    },
                    "rotation": {
                        "roll": 0.00015040041762404144,
                        "pitch": 0.41893646121025085,
                        "yaw": 179.64414978027344
                    }
                },
                "velocity": {
                    "x": -6.864744186401367,
                    "y": 0.042671818286180496,
                    "z": 0.04051797837018967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.4196038246154785,
                "transform": {
                    "location": {
                        "x": 696.3170166015625,
                        "y": 4290.15283203125,
                        "z": 369.7419738769531
                    },
                    "rotation": {
                        "roll": -0.0004577635554596782,
                        "pitch": 0.28213462233543396,
                        "yaw": 179.69668579101562
                    }
                },
                "velocity": {
                    "x": -7.419368267059326,
                    "y": 0.03944949060678482,
                    "z": 0.04407484084367752
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.015787124633789,
                "transform": {
                    "location": {
                        "x": 677.903564453125,
                        "y": 4290.259765625,
                        "z": 369.8044128417969
                    },
                    "rotation": {
                        "roll": 0.00015343597624450922,
                        "pitch": 0.3181092143058777,
                        "yaw": 179.6613006591797
                    }
                },
                "velocity": {
                    "x": -8.015523910522461,
                    "y": 0.04709956422448158,
                    "z": 0.04458849877119064
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07339894771575928,
        "expert_target_speed": 10.0,
        "target_point": [
            22.768887255572864,
            0.06836717040365985
        ],
        "target_point_next": [
            73.76875436427599,
            -0.037603208252705744
        ]
    },
    "110": {
        "acceleration": [
            1.5949630737304688,
            -0.15594691038131714,
            0.001667812466621399
        ],
        "angular_velocity": [
            0.0662771686911583,
            -0.2296076864004135,
            0.8535027503967285
        ],
        "forward_vector": [
            -0.999998152256012,
            -0.0009159152978099883,
            0.0016992082819342613
        ],
        "right_vector": [
            0.0009178013424389064,
            -0.9999989867210388,
            0.0011094709625467658
        ],
        "location": [
            702.1107788085938,
            4287.06982421875,
            369.6705322265625
        ],
        "rotation": [
            -0.0635681077837944,
            0.09735751152038574,
            -179.94752502441406
        ],
        "velocity": [
            -8.382018089294434,
            -0.024270731955766678,
            0.04810361936688423
        ],
        "speed": 8.382053228039581,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 59.62454605102539,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.189985275268555,
                "transform": {
                    "location": {
                        "x": 655.080078125,
                        "y": 4297.07568359375,
                        "z": 369.93505859375
                    },
                    "rotation": {
                        "roll": 0.005044059362262487,
                        "pitch": -0.3044693171977997,
                        "yaw": -0.1081543043255806
                    }
                },
                "velocity": {
                    "x": 8.189846992492676,
                    "y": -0.01734790951013565,
                    "z": -0.04426367208361626
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.225863456726074,
                "transform": {
                    "location": {
                        "x": 655.1065673828125,
                        "y": 4293.82568359375,
                        "z": 369.9364318847656
                    },
                    "rotation": {
                        "roll": 0.0075132958590984344,
                        "pitch": -0.30477669835090637,
                        "yaw": -0.0986633226275444
                    }
                },
                "velocity": {
                    "x": 8.22572135925293,
                    "y": -0.01721952296793461,
                    "z": -0.045147161930799484
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.087297439575195,
                "transform": {
                    "location": {
                        "x": 695.9664916992188,
                        "y": 4296.853515625,
                        "z": 369.7045593261719
                    },
                    "rotation": {
                        "roll": -0.00033569318475201726,
                        "pitch": -0.32818374037742615,
                        "yaw": -0.3309936225414276
                    }
                },
                "velocity": {
                    "x": 8.087034225463867,
                    "y": -0.04668769612908363,
                    "z": -0.04543650895357132
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109638214111328,
                "transform": {
                    "location": {
                        "x": 696.5814208984375,
                        "y": 4293.6015625,
                        "z": 369.7104187011719
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.33316296339035034,
                        "yaw": -0.33599853515625
                    }
                },
                "velocity": {
                    "x": 8.109359741210938,
                    "y": -0.047533322125673294,
                    "z": -0.04755697771906853
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.2596049308776855,
                "transform": {
                    "location": {
                        "x": 749.4755249023438,
                        "y": 4286.28076171875,
                        "z": 369.392333984375
                    },
                    "rotation": {
                        "roll": -0.002349852817133069,
                        "pitch": 0.3537764549255371,
                        "yaw": 177.73492431640625
                    }
                },
                "velocity": {
                    "x": -5.255626678466797,
                    "y": 0.20190255343914032,
                    "z": 0.032697372138500214
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.85685920715332,
                "transform": {
                    "location": {
                        "x": 723.4323120117188,
                        "y": 4286.73876953125,
                        "z": 369.55328369140625
                    },
                    "rotation": {
                        "roll": -0.001251220703125,
                        "pitch": 0.4534289240837097,
                        "yaw": 179.63059997558594
                    }
                },
                "velocity": {
                    "x": -9.856489181518555,
                    "y": 0.06392214447259903,
                    "z": 0.05657380074262619
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9635009765625,
                        "y": 4287.42333984375,
                        "z": 370.2301940917969
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.3279523849487305,
                "transform": {
                    "location": {
                        "x": 730.2030029296875,
                        "y": 4289.935546875,
                        "z": 369.5129089355469
                    },
                    "rotation": {
                        "roll": 0.0026329574175179005,
                        "pitch": 0.5239301323890686,
                        "yaw": 179.84439086914062
                    }
                },
                "velocity": {
                    "x": -5.3277268409729,
                    "y": 0.03756173327565193,
                    "z": 0.031500328332185745
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.336568832397461,
                "transform": {
                    "location": {
                        "x": 713.6275024414062,
                        "y": 4290.048828125,
                        "z": 369.6112060546875
                    },
                    "rotation": {
                        "roll": 0.0009023366728797555,
                        "pitch": 0.30008435249328613,
                        "yaw": 179.650146484375
                    }
                },
                "velocity": {
                    "x": -7.336308002471924,
                    "y": 0.04530860483646393,
                    "z": 0.04214072227478027
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003297805786133,
                "transform": {
                    "location": {
                        "x": 694.4104614257812,
                        "y": 4290.1630859375,
                        "z": 369.7522888183594
                    },
                    "rotation": {
                        "roll": 0.00034147771657444537,
                        "pitch": 0.35969141125679016,
                        "yaw": 179.68365478515625
                    }
                },
                "velocity": {
                    "x": -8.003031730651855,
                    "y": 0.04593057557940483,
                    "z": 0.04629265516996384
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.988117218017578,
                "transform": {
                    "location": {
                        "x": 675.9033203125,
                        "y": 4290.27197265625,
                        "z": 369.81549072265625
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": 0.316838800907135,
                        "yaw": 179.66004943847656
                    }
                },
                "velocity": {
                    "x": -7.987852096557617,
                    "y": 0.047250695526599884,
                    "z": 0.044751252979040146
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06166069582104683,
        "expert_target_speed": 10.0,
        "target_point": [
            20.57364380567023,
            -0.03740048963632461
        ],
        "target_point_next": [
            71.57243046705403,
            -0.385874151760358
        ]
    },
    "115": {
        "acceleration": [
            -2.485828399658203,
            -0.13053610920906067,
            -0.009584203362464905
        ],
        "angular_velocity": [
            0.04882647469639778,
            1.2094694375991821,
            1.0649738311767578
        ],
        "forward_vector": [
            -0.9999727010726929,
            -0.005288418382406235,
            0.005150294862687588
        ],
        "right_vector": [
            0.005293234717100859,
            -0.9999855756759644,
            0.0009219738421961665
        ],
        "location": [
            699.9935302734375,
            4287.06005859375,
            369.6820983886719
        ],
        "rotation": [
            -0.0528259202837944,
            0.2950914800167084,
            -179.69699096679688
        ],
        "velocity": [
            -8.68033504486084,
            -0.05958930402994156,
            0.049362458288669586
        ],
        "speed": 8.68053957863185,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 57.507362365722656,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.385356903076172,
                "transform": {
                    "location": {
                        "x": 656.9412231445312,
                        "y": 4297.07080078125,
                        "z": 369.9248046875
                    },
                    "rotation": {
                        "roll": 0.004257843364030123,
                        "pitch": -0.5359171032905579,
                        "yaw": -0.186981201171875
                    }
                },
                "velocity": {
                    "x": 6.385223865509033,
                    "y": -0.021858880296349525,
                    "z": -0.034921467304229736
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04112720489502,
                "transform": {
                    "location": {
                        "x": 657.1392211914062,
                        "y": 4293.8203125,
                        "z": 369.9256286621094
                    },
                    "rotation": {
                        "roll": 0.006659385282546282,
                        "pitch": -0.31142929196357727,
                        "yaw": -0.1626586765050888
                    }
                },
                "velocity": {
                    "x": 8.040960311889648,
                    "y": -0.02806241624057293,
                    "z": -0.04351610690355301
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053147315979004,
                "transform": {
                    "location": {
                        "x": 697.984375,
                        "y": 4296.841796875,
                        "z": 369.6929626464844
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.330751895904541,
                        "yaw": -0.335357666015625
                    }
                },
                "velocity": {
                    "x": 8.05288028717041,
                    "y": -0.047917041927576065,
                    "z": -0.044817566871643066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.331255912780762,
                "transform": {
                    "location": {
                        "x": 698.6373901367188,
                        "y": 4293.59033203125,
                        "z": 369.6984558105469
                    },
                    "rotation": {
                        "roll": 7.962510426295921e-05,
                        "pitch": -0.33193352818489075,
                        "yaw": -0.3361510932445526
                    }
                },
                "velocity": {
                    "x": 8.330968856811523,
                    "y": -0.04884782060980797,
                    "z": -0.0489518903195858
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.980191707611084,
                "transform": {
                    "location": {
                        "x": 748.08349609375,
                        "y": 4286.3330078125,
                        "z": 369.4006652832031
                    },
                    "rotation": {
                        "roll": -0.0021667475812137127,
                        "pitch": 0.35297733545303345,
                        "yaw": 177.8504180908203
                    }
                },
                "velocity": {
                    "x": -5.9766693115234375,
                    "y": 0.20232760906219482,
                    "z": 0.034383296966552734
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.086204528808594,
                "transform": {
                    "location": {
                        "x": 720.9125366210938,
                        "y": 4286.75439453125,
                        "z": 369.5682678222656
                    },
                    "rotation": {
                        "roll": -0.0005798338097520173,
                        "pitch": 0.40462037920951843,
                        "yaw": 179.631103515625
                    }
                },
                "velocity": {
                    "x": -10.08582592010498,
                    "y": 0.06501752883195877,
                    "z": 0.058313749730587006
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9635009765625,
                        "y": 4287.42333984375,
                        "z": 370.2301940917969
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.170287609100342,
                "transform": {
                    "location": {
                        "x": 728.9107666015625,
                        "y": 4289.9443359375,
                        "z": 369.5216369628906
                    },
                    "rotation": {
                        "roll": 0.00036781124072149396,
                        "pitch": 0.38117918372154236,
                        "yaw": 179.69447326660156
                    }
                },
                "velocity": {
                    "x": -5.170040130615234,
                    "y": 0.04094192013144493,
                    "z": 0.029700545594096184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.643389701843262,
                "transform": {
                    "location": {
                        "x": 711.6864013671875,
                        "y": 4290.06103515625,
                        "z": 369.623046875
                    },
                    "rotation": {
                        "roll": 0.0007480945787392557,
                        "pitch": 0.22415313124656677,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -8.643087387084961,
                    "y": 0.05178233981132507,
                    "z": 0.05056754872202873
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.088136672973633,
                "transform": {
                    "location": {
                        "x": 692.3533325195312,
                        "y": 4290.1748046875,
                        "z": 369.76409912109375
                    },
                    "rotation": {
                        "roll": 0.0010348042706027627,
                        "pitch": 0.34950077533721924,
                        "yaw": 179.67636108398438
                    }
                },
                "velocity": {
                    "x": -8.08787727355957,
                    "y": 0.0455993227660656,
                    "z": 0.04594217240810394
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022604942321777,
                "transform": {
                    "location": {
                        "x": 673.9019165039062,
                        "y": 4290.283203125,
                        "z": 369.82659912109375
                    },
                    "rotation": {
                        "roll": 0.00029047924908809364,
                        "pitch": 0.31751498579978943,
                        "yaw": 179.65953063964844
                    }
                },
                "velocity": {
                    "x": -8.022340774536133,
                    "y": 0.04756385087966919,
                    "z": 0.044424064457416534
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.030804071575403214,
        "expert_target_speed": 10.0,
        "target_point": [
            18.456013076866185,
            -0.12591952559075814
        ],
        "target_point_next": [
            69.45278874331558,
            -0.6973619569579927
        ]
    },
    "120": {
        "acceleration": [
            0.13795852661132812,
            0.013993531465530396,
            0.0002528727054595947
        ],
        "angular_velocity": [
            0.17930665612220764,
            -0.2579360902309418,
            0.18036730587482452
        ],
        "forward_vector": [
            -0.9999268651008606,
            -0.008345338515937328,
            0.00875747948884964
        ],
        "right_vector": [
            0.00835083331912756,
            -0.9999649524688721,
            0.0005911991465836763
        ],
        "location": [
            697.72998046875,
            4287.04248046875,
            369.6943359375
        ],
        "rotation": [
            -0.0338745154440403,
            0.5017729997634888,
            -179.52182006835938
        ],
        "velocity": [
            -9.233866691589355,
            -0.08117348700761795,
            0.052902963012456894
        ],
        "speed": 9.234223476450866,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 55.243778228759766,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 618.576171875,
                        "y": 4293.9609375,
                        "z": 370.50885009765625
                    },
                    "rotation": {
                        "roll": 5.211081913203408e-11,
                        "pitch": -0.2779272198677063,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.128912448883057,
                "transform": {
                    "location": {
                        "x": 658.47265625,
                        "y": 4297.06494140625,
                        "z": 369.9167785644531
                    },
                    "rotation": {
                        "roll": 0.003006628481671214,
                        "pitch": -0.40450426936149597,
                        "yaw": -0.2565612494945526
                    }
                },
                "velocity": {
                    "x": 6.128761291503906,
                    "y": -0.027797499671578407,
                    "z": -0.03284922614693642
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.4685163497924805,
                "transform": {
                    "location": {
                        "x": 658.9160766601562,
                        "y": 4293.8134765625,
                        "z": 369.916015625
                    },
                    "rotation": {
                        "roll": 0.005130646750330925,
                        "pitch": -0.5534023642539978,
                        "yaw": -0.2783812880516052
                    }
                },
                "velocity": {
                    "x": 6.4683661460876465,
                    "y": -0.027657873928546906,
                    "z": -0.03429189696907997
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082464218139648,
                "transform": {
                    "location": {
                        "x": 700.0010986328125,
                        "y": 4296.830078125,
                        "z": 369.6813049316406
                    },
                    "rotation": {
                        "roll": -0.00015258791972883046,
                        "pitch": -0.3319949805736542,
                        "yaw": -0.34039306640625
                    }
                },
                "velocity": {
                    "x": 8.082189559936523,
                    "y": -0.0480029322206974,
                    "z": -0.04633273184299469
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.109310150146484,
                "transform": {
                    "location": {
                        "x": 700.6912231445312,
                        "y": 4293.578125,
                        "z": 369.68658447265625
                    },
                    "rotation": {
                        "roll": 0.001557529205456376,
                        "pitch": -0.33599749207496643,
                        "yaw": -0.3397521674633026
                    }
                },
                "velocity": {
                    "x": 8.109021186828613,
                    "y": -0.04947061464190483,
                    "z": -0.04735250398516655
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.835028171539307,
                "transform": {
                    "location": {
                        "x": 746.5160522460938,
                        "y": 4286.384765625,
                        "z": 369.40966796875
                    },
                    "rotation": {
                        "roll": -0.0026550283655524254,
                        "pitch": 0.358864963054657,
                        "yaw": 178.01087951660156
                    }
                },
                "velocity": {
                    "x": -6.831565856933594,
                    "y": 0.21401311457157135,
                    "z": 0.03894184157252312
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.171195983886719,
                "transform": {
                    "location": {
                        "x": 718.5084838867188,
                        "y": 4286.77001953125,
                        "z": 369.5843200683594
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.15080374479293823,
                        "yaw": 179.6381378173828
                    }
                },
                "velocity": {
                    "x": -9.170863151550293,
                    "y": 0.057007066905498505,
                    "z": 0.05352070555090904
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9635009765625,
                        "y": 4287.42333984375,
                        "z": 370.2301940917969
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.5909504890441895,
                "transform": {
                    "location": {
                        "x": 727.554443359375,
                        "y": 4289.95361328125,
                        "z": 369.530029296875
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.29909396171569824,
                        "yaw": 179.6758270263672
                    }
                },
                "velocity": {
                    "x": -5.590717792510986,
                    "y": 0.03896773234009743,
                    "z": 0.03294548764824867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.4740571975708,
                "transform": {
                    "location": {
                        "x": 709.3466796875,
                        "y": 4290.07470703125,
                        "z": 369.6365966796875
                    },
                    "rotation": {
                        "roll": 0.0009630144340917468,
                        "pitch": 0.22718574106693268,
                        "yaw": 179.65499877929688
                    }
                },
                "velocity": {
                    "x": -9.47373104095459,
                    "y": 0.05521335452795029,
                    "z": 0.055891599506139755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.463669776916504,
                "transform": {
                    "location": {
                        "x": 690.421875,
                        "y": 4290.1865234375,
                        "z": 369.7757263183594
                    },
                    "rotation": {
                        "roll": 0.00033716278267093003,
                        "pitch": 0.2758235037326813,
                        "yaw": 179.6697235107422
                    }
                },
                "velocity": {
                    "x": -7.463423728942871,
                    "y": 0.043145205825567245,
                    "z": 0.042570170015096664
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990177631378174,
                "transform": {
                    "location": {
                        "x": 671.900634765625,
                        "y": 4290.294921875,
                        "z": 369.8375244140625
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.3155547082424164,
                        "yaw": 179.65940856933594
                    }
                },
                "velocity": {
                    "x": -7.989912509918213,
                    "y": 0.047448497265577316,
                    "z": 0.04454783350229263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0004183824348729104,
        "expert_target_speed": 10.0,
        "target_point": [
            16.19192405331283,
            -0.18104247324467293
        ],
        "target_point_next": [
            67.18671383850949,
            -0.908427921363393
        ]
    },
    "125": {
        "acceleration": [
            -0.12781143188476562,
            0.2116498351097107,
            -0.01626931130886078
        ],
        "angular_velocity": [
            0.17892268300056458,
            -0.6167281866073608,
            0.9248391389846802
        ],
        "forward_vector": [
            -0.9999105930328369,
            -0.00702750263735652,
            0.011379233561456203
        ],
        "right_vector": [
            0.007024139631539583,
            -0.9999752640724182,
            -0.000335447839461267
        ],
        "location": [
            695.28076171875,
            4287.0244140625,
            369.7078857421875
        ],
        "rotation": [
            0.0192209891974926,
            0.6519961357116699,
            -179.59732055664062
        ],
        "velocity": [
            -10.12267780303955,
            -0.052961334586143494,
            0.056794602423906326
        ],
        "speed": 10.122816347593725,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 52.79454040527344,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 618.0250854492188,
                        "y": 4297.21435546875,
                        "z": 370.3422546386719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28036558628082275,
                        "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": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 619.8212890625,
                        "y": 4293.95361328125,
                        "z": 370.2624816894531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28036558628082275,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.503446102142334,
                "transform": {
                    "location": {
                        "x": 660.1005859375,
                        "y": 4297.05712890625,
                        "z": 369.9083557128906
                    },
                    "rotation": {
                        "roll": 0.0004933169693686068,
                        "pitch": -0.1485292911529541,
                        "yaw": -0.2500915229320526
                    }
                },
                "velocity": {
                    "x": 7.503267765045166,
                    "y": -0.03301858529448509,
                    "z": -0.03983960673213005
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.463727951049805,
                "transform": {
                    "location": {
                        "x": 660.525634765625,
                        "y": 4293.8056640625,
                        "z": 369.90740966796875
                    },
                    "rotation": {
                        "roll": 0.003518403507769108,
                        "pitch": -0.3738093972206116,
                        "yaw": -0.282379150390625
                    }
                },
                "velocity": {
                    "x": 6.46356725692749,
                    "y": -0.031614359468221664,
                    "z": -0.032884273678064346
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053342819213867,
                "transform": {
                    "location": {
                        "x": 702.0178833007812,
                        "y": 4296.81884765625,
                        "z": 369.6696472167969
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": -0.3315441906452179,
                        "yaw": -0.3441162109375
                    }
                },
                "velocity": {
                    "x": 8.053070068359375,
                    "y": -0.04840860888361931,
                    "z": -0.04531941935420036
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.330899238586426,
                "transform": {
                    "location": {
                        "x": 702.747314453125,
                        "y": 4293.56591796875,
                        "z": 369.6746826171875
                    },
                    "rotation": {
                        "roll": 9.643592784414068e-05,
                        "pitch": -0.33142125606536865,
                        "yaw": -0.3497924506664276
                    }
                },
                "velocity": {
                    "x": 8.33060073852539,
                    "y": -0.05077720060944557,
                    "z": -0.04892393946647644
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.701417922973633,
                "transform": {
                    "location": {
                        "x": 744.6907348632812,
                        "y": 4286.44287109375,
                        "z": 369.4203796386719
                    },
                    "rotation": {
                        "roll": -0.0011291500413790345,
                        "pitch": 0.35775163769721985,
                        "yaw": 178.20541381835938
                    }
                },
                "velocity": {
                    "x": -7.6978068351745605,
                    "y": 0.23136061429977417,
                    "z": 0.045628804713487625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.762919425964355,
                "transform": {
                    "location": {
                        "x": 716.2871704101562,
                        "y": 4286.78369140625,
                        "z": 369.5969543457031
                    },
                    "rotation": {
                        "roll": -0.0003967283992096782,
                        "pitch": 0.18048091232776642,
                        "yaw": 179.6472930908203
                    }
                },
                "velocity": {
                    "x": -8.762596130371094,
                    "y": 0.0538470484316349,
                    "z": 0.0525457002222538
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 624.9635009765625,
                        "y": 4287.42333984375,
                        "z": 370.2301940917969
                    },
                    "rotation": {
                        "roll": -5.211083300982189e-11,
                        "pitch": 0.28036558628082275,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.377790451049805,
                "transform": {
                    "location": {
                        "x": 725.9285888671875,
                        "y": 4289.96435546875,
                        "z": 369.54058837890625
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": 0.18035796284675598,
                        "yaw": 179.568115234375
                    }
                },
                "velocity": {
                    "x": -7.3774638175964355,
                    "y": 0.054422810673713684,
                    "z": 0.04310743138194084
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.358431816101074,
                "transform": {
                    "location": {
                        "x": 707.1121215820312,
                        "y": 4290.087890625,
                        "z": 369.6481018066406
                    },
                    "rotation": {
                        "roll": 0.0011702231131494045,
                        "pitch": 0.4118603765964508,
                        "yaw": 179.659423828125
                    }
                },
                "velocity": {
                    "x": -8.358145713806152,
                    "y": 0.04958512634038925,
                    "z": 0.04820617660880089
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.894287586212158,
                "transform": {
                    "location": {
                        "x": 688.5263671875,
                        "y": 4290.197265625,
                        "z": 369.7858581542969
                    },
                    "rotation": {
                        "roll": 0.00012692758173216134,
                        "pitch": 0.34799128770828247,
                        "yaw": 179.66867065429688
                    }
                },
                "velocity": {
                    "x": -7.894030570983887,
                    "y": 0.04562109708786011,
                    "z": 0.0444275364279747
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021215438842773,
                "transform": {
                    "location": {
                        "x": 669.8993530273438,
                        "y": 4290.306640625,
                        "z": 369.84857177734375
                    },
                    "rotation": {
                        "roll": 3.765425208257511e-05,
                        "pitch": 0.3134920001029968,
                        "yaw": 179.659423828125
                    }
                },
                "velocity": {
                    "x": -8.020946502685547,
                    "y": 0.0476594902575016,
                    "z": 0.045047491788864136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32994991540908813,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01631058193743229,
        "expert_target_speed": 10.0,
        "target_point": [
            13.742863366868603,
            -0.1605544352605064
        ],
        "target_point_next": [
            64.73856753909176,
            -0.8207292648582192
        ]
    },
    "130": {
        "acceleration": [
            0.032291412353515625,
            0.22110828757286072,
            0.003651231527328491
        ],
        "angular_velocity": [
            0.11977235972881317,
            -0.6036702394485474,
            -3.4982728958129883
        ],
        "forward_vector": [
            -0.9999781250953674,
            -0.0011798209743574262,
            0.00650222459807992
        ],
        "right_vector": [
            0.0011734903091564775,
            -0.9999988079071045,
            -0.000977339455857873
        ],
        "location": [
            692.7973022460938,
            4287.017578125,
            369.7229919433594
        ],
        "rotation": [
            0.05599862337112427,
            0.37255263328552246,
            -179.93240356445312
        ],
        "velocity": [
            -9.798028945922852,
            0.0006356313824653625,
            0.056659210473299026
        ],
        "speed": 9.798028966540635,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 50.31125259399414,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 620.1029663085938,
                        "y": 4297.20166015625,
                        "z": 370.1920166015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.28036558628082275,
                        "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": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 621.8970947265625,
                        "y": 4293.94091796875,
                        "z": 370.1211242675781
                    },
                    "rotation": {
                        "roll": 5.211085035705665e-11,
                        "pitch": -0.28500327467918396,
                        "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": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.33446979522705,
                "transform": {
                    "location": {
                        "x": 662.1478271484375,
                        "y": 4297.0478515625,
                        "z": 369.8972473144531
                    },
                    "rotation": {
                        "roll": 0.001225351239554584,
                        "pitch": -0.16931354999542236,
                        "yaw": -0.271087646484375
                    }
                },
                "velocity": {
                    "x": 8.334249496459961,
                    "y": -0.03970544785261154,
                    "z": -0.04583163559436798
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.51602840423584,
                "transform": {
                    "location": {
                        "x": 662.403564453125,
                        "y": 4293.796875,
                        "z": 369.89739990234375
                    },
                    "rotation": {
                        "roll": 0.002764566335827112,
                        "pitch": -0.005921773612499237,
                        "yaw": -0.278717041015625
                    }
                },
                "velocity": {
                    "x": 8.515793800354004,
                    "y": -0.042914047837257385,
                    "z": -0.04642844200134277
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084707260131836,
                "transform": {
                    "location": {
                        "x": 704.03515625,
                        "y": 4296.806640625,
                        "z": 369.6579895019531
                    },
                    "rotation": {
                        "roll": 0.0002758233458735049,
                        "pitch": -0.331783264875412,
                        "yaw": -0.3448486626148224
                    }
                },
                "velocity": {
                    "x": 8.084428787231445,
                    "y": -0.04862593114376068,
                    "z": -0.04623838886618614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.726150035858154,
                "transform": {
                    "location": {
                        "x": 704.6832885742188,
                        "y": 4293.5546875,
                        "z": 369.66546630859375
                    },
                    "rotation": {
                        "roll": -0.000457763351732865,
                        "pitch": -0.583612322807312,
                        "yaw": -0.4072570204734802
                    }
                },
                "velocity": {
                    "x": 6.725913047790527,
                    "y": -0.04030745476484299,
                    "z": -0.03953196853399277
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.457377433776855,
                "transform": {
                    "location": {
                        "x": 742.6676635742188,
                        "y": 4286.5,
                        "z": 369.4323425292969
                    },
                    "rotation": {
                        "roll": -0.0024414060171693563,
                        "pitch": 0.3561738431453705,
                        "yaw": 178.43048095703125
                    }
                },
                "velocity": {
                    "x": -8.454771041870117,
                    "y": 0.20411048829555511,
                    "z": 0.049151238054037094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.484777450561523,
                "transform": {
                    "location": {
                        "x": 714.0181884765625,
                        "y": 4286.79736328125,
                        "z": 369.6081237792969
                    },
                    "rotation": {
                        "roll": 0.00026025346596725285,
                        "pitch": 0.4644869863986969,
                        "yaw": 179.64974975585938
                    }
                },
                "velocity": {
                    "x": -9.484447479248047,
                    "y": 0.058047764003276825,
                    "z": 0.05378738418221474
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.35678642988204956,
                "transform": {
                    "location": {
                        "x": 624.963134765625,
                        "y": 4287.42333984375,
                        "z": 370.1237487792969
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": 0.28513988852500916,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0016799458535388112,
                    "y": 0.00028573215240612626,
                    "z": -0.35678234696388245
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.33319091796875,
                "transform": {
                    "location": {
                        "x": 723.9539794921875,
                        "y": 4289.978515625,
                        "z": 369.55169677734375
                    },
                    "rotation": {
                        "roll": 0.00033871730556711555,
                        "pitch": 0.21648965775966644,
                        "yaw": 179.5790252685547
                    }
                },
                "velocity": {
                    "x": -8.332845687866211,
                    "y": 0.05881521478295326,
                    "z": 0.04798881337046623
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.804782390594482,
                "transform": {
                    "location": {
                        "x": 705.1719360351562,
                        "y": 4290.0986328125,
                        "z": 369.6587829589844
                    },
                    "rotation": {
                        "roll": 7.27880178601481e-05,
                        "pitch": 0.48145318031311035,
                        "yaw": 179.63853454589844
                    }
                },
                "velocity": {
                    "x": -6.804555892944336,
                    "y": 0.03869985416531563,
                    "z": 0.03985287621617317
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.262457847595215,
                "transform": {
                    "location": {
                        "x": 686.4672241210938,
                        "y": 4290.20947265625,
                        "z": 369.79736328125
                    },
                    "rotation": {
                        "roll": 0.00016625206626486033,
                        "pitch": 0.36154237389564514,
                        "yaw": 179.66317749023438
                    }
                },
                "velocity": {
                    "x": -8.262177467346191,
                    "y": 0.04859384521842003,
                    "z": 0.04767348989844322
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989148139953613,
                "transform": {
                    "location": {
                        "x": 667.8985595703125,
                        "y": 4290.31884765625,
                        "z": 369.8595275878906
                    },
                    "rotation": {
                        "roll": -0.00012207023974042386,
                        "pitch": 0.31345102190971375,
                        "yaw": 179.65933227539062
                    }
                },
                "velocity": {
                    "x": -7.988885879516602,
                    "y": 0.047489967197179794,
                    "z": 0.04400460049510002
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.012203358113765717,
        "expert_target_speed": 10.0,
        "target_point": [
            11.260101511478561,
            -0.08408445786432249
        ],
        "target_point_next": [
            62.25879451046577,
            -0.4460060261437076
        ]
    },
    "135": {
        "acceleration": [
            4.103832244873047,
            -0.03363920375704765,
            -0.023372620344161987
        ],
        "angular_velocity": [
            -0.18954384326934814,
            -0.9464516043663025,
            0.36829233169555664
        ],
        "forward_vector": [
            -0.9999985694885254,
            0.0017057966906577349,
            -0.0001842975616455078
        ],
        "right_vector": [
            -0.0017056844662874937,
            -0.9999983906745911,
            -0.0006070390227250755
        ],
        "location": [
            690.5075073242188,
            4287.02001953125,
            369.73748779296875
        ],
        "rotation": [
            0.034780777990818024,
            -0.010559472255408764,
            179.9022674560547
        ],
        "velocity": [
            -8.49094009399414,
            0.012400786392390728,
            0.04807647690176964
        ],
        "speed": 8.49094914949444,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 48.021785736083984,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.029029846191406,
                "transform": {
                    "location": {
                        "x": 622.1709594726562,
                        "y": 4297.1904296875,
                        "z": 370.12115478515625
                    },
                    "rotation": {
                        "roll": -0.007598876953125,
                        "pitch": -0.3008083403110504,
                        "yaw": -0.296905517578125
                    }
                },
                "velocity": {
                    "x": 8.02801513671875,
                    "y": -0.0038495780900120735,
                    "z": -0.12759248912334442
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.018828392028809,
                "transform": {
                    "location": {
                        "x": 623.9467163085938,
                        "y": 4293.935546875,
                        "z": 370.1023254394531
                    },
                    "rotation": {
                        "roll": -0.0652160793542862,
                        "pitch": -0.3515908122062683,
                        "yaw": -0.0834350511431694
                    }
                },
                "velocity": {
                    "x": 8.018390655517578,
                    "y": 0.021575402468442917,
                    "z": -0.08097141236066818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.89516019821167,
                "transform": {
                    "location": {
                        "x": 664.1686401367188,
                        "y": 4297.0380859375,
                        "z": 369.88616943359375
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.33019864559173584,
                        "yaw": -0.2658385932445526
                    }
                },
                "velocity": {
                    "x": 7.8949408531188965,
                    "y": -0.03895134478807449,
                    "z": -0.04410327225923538
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.129192352294922,
                "transform": {
                    "location": {
                        "x": 664.5120239257812,
                        "y": 4293.7861328125,
                        "z": 369.88592529296875
                    },
                    "rotation": {
                        "roll": 0.0008285322110168636,
                        "pitch": -0.28937461972236633,
                        "yaw": -0.2907104790210724
                    }
                },
                "velocity": {
                    "x": 8.128962516784668,
                    "y": -0.042197227478027344,
                    "z": -0.04421447962522507
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05211067199707,
                "transform": {
                    "location": {
                        "x": 706.0519409179688,
                        "y": 4296.79541015625,
                        "z": 369.6463317871094
                    },
                    "rotation": {
                        "roll": -0.00021362313418649137,
                        "pitch": -0.33288291096687317,
                        "yaw": -0.3446654975414276
                    }
                },
                "velocity": {
                    "x": 8.051833152770996,
                    "y": -0.048459213227033615,
                    "z": -0.046084851026535034
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.538771629333496,
                "transform": {
                    "location": {
                        "x": 706.1676635742188,
                        "y": 4293.54541015625,
                        "z": 369.6580810546875
                    },
                    "rotation": {
                        "roll": 0.0017154517117887735,
                        "pitch": -0.7203049063682556,
                        "yaw": -0.437774658203125
                    }
                },
                "velocity": {
                    "x": 5.538562297821045,
                    "y": -0.035404790192842484,
                    "z": -0.03264165669679642
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.223426818847656,
                "transform": {
                    "location": {
                        "x": 740.455078125,
                        "y": 4286.5517578125,
                        "z": 369.4453125
                    },
                    "rotation": {
                        "roll": -0.0024414057843387127,
                        "pitch": 0.3552108108997345,
                        "yaw": 178.73875427246094
                    }
                },
                "velocity": {
                    "x": -9.221258163452148,
                    "y": 0.19271506369113922,
                    "z": 0.05342660844326019
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.166467666625977,
                "transform": {
                    "location": {
                        "x": 711.549072265625,
                        "y": 4286.8125,
                        "z": 369.621826171875
                    },
                    "rotation": {
                        "roll": -0.0003051758394576609,
                        "pitch": 0.5322970747947693,
                        "yaw": 179.65538024902344
                    }
                },
                "velocity": {
                    "x": -10.16612720489502,
                    "y": 0.05971964821219444,
                    "z": 0.05800865963101387
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.03601711988449097,
                "transform": {
                    "location": {
                        "x": 624.9630737304688,
                        "y": 4287.42333984375,
                        "z": 370.0897216796875
                    },
                    "rotation": {
                        "roll": -0.002471923129633069,
                        "pitch": 0.2876807153224945,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.00017425492114853114,
                    "y": -0.00010149781155632809,
                    "z": -0.0360165573656559
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.787233352661133,
                "transform": {
                    "location": {
                        "x": 721.7725830078125,
                        "y": 4289.994140625,
                        "z": 369.56390380859375
                    },
                    "rotation": {
                        "roll": -0.0007934567984193563,
                        "pitch": 0.27481263875961304,
                        "yaw": 179.5836181640625
                    }
                },
                "velocity": {
                    "x": -8.78685474395752,
                    "y": 0.06388946622610092,
                    "z": 0.050654247403144836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.582123756408691,
                "transform": {
                    "location": {
                        "x": 703.526611328125,
                        "y": 4290.10888671875,
                        "z": 369.6691589355469
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": 0.3842732608318329,
                        "yaw": 179.68325805664062
                    }
                },
                "velocity": {
                    "x": -6.581913948059082,
                    "y": 0.03670600429177284,
                    "z": 0.037625037133693695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.814779281616211,
                "transform": {
                    "location": {
                        "x": 684.4677734375,
                        "y": 4290.220703125,
                        "z": 369.8091735839844
                    },
                    "rotation": {
                        "roll": 0.001116617931984365,
                        "pitch": 0.29836997389793396,
                        "yaw": 179.65740966796875
                    }
                },
                "velocity": {
                    "x": -7.81451416015625,
                    "y": 0.046711839735507965,
                    "z": 0.04432671517133713
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021862030029297,
                "transform": {
                    "location": {
                        "x": 665.8972778320312,
                        "y": 4290.330078125,
                        "z": 369.8704528808594
                    },
                    "rotation": {
                        "roll": 0.00028830632800236344,
                        "pitch": 0.3138335049152374,
                        "yaw": 179.6591339111328
                    }
                },
                "velocity": {
                    "x": -8.021597862243652,
                    "y": 0.04769134521484375,
                    "z": 0.04429072141647339
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01880357600748539,
        "expert_target_speed": 10.0,
        "target_point": [
            8.97050147168527,
            -0.05306333942345472
        ],
        "target_point_next": [
            59.97002634725905,
            -0.2678592710976351
        ]
    },
    "140": {
        "acceleration": [
            -2.0584678649902344,
            -0.11577080190181732,
            -0.0028595328330993652
        ],
        "angular_velocity": [
            -0.05433884635567665,
            1.4661301374435425,
            0.5482887029647827
        ],
        "forward_vector": [
            -0.9999968409538269,
            -0.00015321523824241012,
            0.002512332983314991
        ],
        "right_vector": [
            0.0001534726470708847,
            -1.0,
            0.00010226505401078612
        ],
        "location": [
            688.4141235351562,
            4287.02001953125,
            369.748779296875
        ],
        "rotation": [
            -0.005859374534338713,
            0.14394623041152954,
            -179.99122619628906
        ],
        "velocity": [
            -8.47988224029541,
            -0.012959606014192104,
            0.048477113246917725
        ],
        "speed": 8.479892143221253,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 45.928707122802734,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079096794128418,
                "transform": {
                    "location": {
                        "x": 624.1842651367188,
                        "y": 4297.1943359375,
                        "z": 370.0911560058594
                    },
                    "rotation": {
                        "roll": -0.0106201171875,
                        "pitch": -0.29049476981163025,
                        "yaw": 0.13568159937858582
                    }
                },
                "velocity": {
                    "x": 8.078557014465332,
                    "y": 0.04209817200899124,
                    "z": -0.0833730548620224
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.209492683410645,
                "transform": {
                    "location": {
                        "x": 625.9764404296875,
                        "y": 4293.9443359375,
                        "z": 370.08544921875
                    },
                    "rotation": {
                        "roll": -0.0596923828125,
                        "pitch": -0.3089021146297455,
                        "yaw": 0.2909693419933319
                    }
                },
                "velocity": {
                    "x": 8.209120750427246,
                    "y": 0.054448679089546204,
                    "z": -0.056070659309625626
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.074918746948242,
                "transform": {
                    "location": {
                        "x": 666.15576171875,
                        "y": 4297.02783203125,
                        "z": 369.8753967285156
                    },
                    "rotation": {
                        "roll": 0.001537300064228475,
                        "pitch": -0.29834264516830444,
                        "yaw": -0.3141479194164276
                    }
                },
                "velocity": {
                    "x": 8.074677467346191,
                    "y": -0.04328886792063713,
                    "z": -0.0448722168803215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.8178300857543945,
                "transform": {
                    "location": {
                        "x": 666.4801635742188,
                        "y": 4293.7763671875,
                        "z": 369.8751525878906
                    },
                    "rotation": {
                        "roll": 0.00015882146544754505,
                        "pitch": -0.36215028166770935,
                        "yaw": -0.2982177138328552
                    }
                },
                "velocity": {
                    "x": 7.817601203918457,
                    "y": -0.041680458933115005,
                    "z": -0.04295238479971886
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084420204162598,
                "transform": {
                    "location": {
                        "x": 708.0692138671875,
                        "y": 4296.783203125,
                        "z": 369.6346130371094
                    },
                    "rotation": {
                        "roll": 0.00014362105866894126,
                        "pitch": -0.33245259523391724,
                        "yaw": -0.3477477431297302
                    }
                },
                "velocity": {
                    "x": 8.084136962890625,
                    "y": -0.04915894940495491,
                    "z": -0.04654071107506752
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.059490203857422,
                "transform": {
                    "location": {
                        "x": 707.575927734375,
                        "y": 4293.5361328125,
                        "z": 369.6463317871094
                    },
                    "rotation": {
                        "roll": -0.0001220704143634066,
                        "pitch": -0.29602038860321045,
                        "yaw": -0.397430419921875
                    }
                },
                "velocity": {
                    "x": 6.059264183044434,
                    "y": -0.03829491510987282,
                    "z": -0.0356149859726429
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.026776313781738,
                "transform": {
                    "location": {
                        "x": 738.0462036132812,
                        "y": 4286.6015625,
                        "z": 369.45947265625
                    },
                    "rotation": {
                        "roll": -0.004669188987463713,
                        "pitch": 0.3552108108997345,
                        "yaw": 178.89779663085938
                    }
                },
                "velocity": {
                    "x": -10.025121688842773,
                    "y": 0.17276738584041595,
                    "z": 0.05767357721924782
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 10.034322738647461,
                "transform": {
                    "location": {
                        "x": 708.9803466796875,
                        "y": 4286.82861328125,
                        "z": 369.6379699707031
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.35710275173187256,
                        "yaw": 179.663330078125
                    }
                },
                "velocity": {
                    "x": -10.033973693847656,
                    "y": 0.059130772948265076,
                    "z": 0.05927106738090515
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00029282973264344037,
                "transform": {
                    "location": {
                        "x": 624.9630737304688,
                        "y": 4287.42333984375,
                        "z": 370.0869445800781
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.2879470884799957,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": -3.360405389685184e-05,
                    "y": 0.00010632348130457103,
                    "z": 0.0002707680396270007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.119278907775879,
                "transform": {
                    "location": {
                        "x": 719.6522216796875,
                        "y": 4290.00927734375,
                        "z": 369.5754089355469
                    },
                    "rotation": {
                        "roll": 0.0007069563143886626,
                        "pitch": 0.3731537163257599,
                        "yaw": 179.60226440429688
                    }
                },
                "velocity": {
                    "x": -8.118963241577148,
                    "y": 0.052918899804353714,
                    "z": 0.048152998089790344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.264516353607178,
                "transform": {
                    "location": {
                        "x": 701.8050537109375,
                        "y": 4290.1181640625,
                        "z": 369.6799011230469
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.27930691838264465,
                        "yaw": 179.64447021484375
                    }
                },
                "velocity": {
                    "x": -7.2642717361450195,
                    "y": 0.042547035962343216,
                    "z": 0.04173070937395096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.119161605834961,
                "transform": {
                    "location": {
                        "x": 682.4829711914062,
                        "y": 4290.23291015625,
                        "z": 369.8200378417969
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.3367214798927307,
                        "yaw": 179.65721130371094
                    }
                },
                "velocity": {
                    "x": -8.118891716003418,
                    "y": 0.048563599586486816,
                    "z": 0.044925935566425323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9898681640625,
                "transform": {
                    "location": {
                        "x": 663.896240234375,
                        "y": 4290.341796875,
                        "z": 369.88128662109375
                    },
                    "rotation": {
                        "roll": -0.00018310539599042386,
                        "pitch": 0.3109170198440552,
                        "yaw": 179.65921020507812
                    }
                },
                "velocity": {
                    "x": -7.98960542678833,
                    "y": 0.04751523956656456,
                    "z": 0.044004086405038834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.036324936896562576,
        "expert_target_speed": 10.0,
        "target_point": [
            57.87604129842284,
            -0.3789766625769821
        ],
        "target_point_next": [
            108.87507905623085,
            -0.688052959406751
        ]
    },
    "145": {
        "acceleration": [
            0.4233741760253906,
            -0.08054643869400024,
            0.005615055561065674
        ],
        "angular_velocity": [
            -0.08077611029148102,
            0.1494186818599701,
            0.8570610284805298
        ],
        "forward_vector": [
            -0.9999607801437378,
            -0.0035302911419421434,
            0.008122592233121395
        ],
        "right_vector": [
            0.003534036921337247,
            -0.999993622303009,
            0.0004468635597731918
        ],
        "location": [
            686.1917114257812,
            4287.013671875,
            369.76019287109375
        ],
        "rotation": [
            -0.025604242458939552,
            0.46539539098739624,
            -179.7977294921875
        ],
        "velocity": [
            -9.131836891174316,
            -0.04181426391005516,
            0.050583258271217346
        ],
        "speed": 9.131932623474537,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 43.7065315246582,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01224422454834,
                "transform": {
                    "location": {
                        "x": 626.1953125,
                        "y": 4297.2041015625,
                        "z": 370.0760192871094
                    },
                    "rotation": {
                        "roll": -0.00640869140625,
                        "pitch": -0.2861234247684479,
                        "yaw": 0.3156304657459259
                    }
                },
                "velocity": {
                    "x": 8.011951446533203,
                    "y": 0.04863230511546135,
                    "z": -0.04818272963166237
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.013364791870117,
                "transform": {
                    "location": {
                        "x": 628.0032958984375,
                        "y": 4293.95166015625,
                        "z": 370.0732727050781
                    },
                    "rotation": {
                        "roll": 0.0047055804170668125,
                        "pitch": -0.300876647233963,
                        "yaw": 0.20567072927951813
                    }
                },
                "velocity": {
                    "x": 8.013224601745605,
                    "y": 0.016834620386362076,
                    "z": -0.044378917664289474
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.095898628234863,
                "transform": {
                    "location": {
                        "x": 668.18701171875,
                        "y": 4297.0166015625,
                        "z": 369.8642578125
                    },
                    "rotation": {
                        "roll": 0.00046136125456541777,
                        "pitch": -0.308041512966156,
                        "yaw": -0.2975158393383026
                    }
                },
                "velocity": {
                    "x": 8.095656394958496,
                    "y": -0.04448133707046509,
                    "z": -0.04407588019967079
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.21292495727539,
                "transform": {
                    "location": {
                        "x": 668.4945068359375,
                        "y": 4293.76513671875,
                        "z": 369.8641052246094
                    },
                    "rotation": {
                        "roll": 0.0011904406128451228,
                        "pitch": -0.26529136300086975,
                        "yaw": -0.3116455078125
                    }
                },
                "velocity": {
                    "x": 8.212678909301758,
                    "y": -0.044790443032979965,
                    "z": -0.045068033039569855
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051434516906738,
                "transform": {
                    "location": {
                        "x": 710.0859375,
                        "y": 4296.77197265625,
                        "z": 369.6228942871094
                    },
                    "rotation": {
                        "roll": 0.0004322506138123572,
                        "pitch": -0.33373668789863586,
                        "yaw": -0.3485107421875
                    }
                },
                "velocity": {
                    "x": 8.051146507263184,
                    "y": -0.04896059259772301,
                    "z": -0.0472443588078022
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.569554328918457,
                "transform": {
                    "location": {
                        "x": 709.3226928710938,
                        "y": 4293.5244140625,
                        "z": 369.6330871582031
                    },
                    "rotation": {
                        "roll": -0.0031433100812137127,
                        "pitch": 0.09577290713787079,
                        "yaw": -0.29364013671875
                    }
                },
                "velocity": {
                    "x": 7.569296836853027,
                    "y": -0.044390302151441574,
                    "z": -0.043878570199012756
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.873908996582031,
                "transform": {
                    "location": {
                        "x": 735.4305419921875,
                        "y": 4286.64208984375,
                        "z": 369.47479248046875
                    },
                    "rotation": {
                        "roll": -0.0038452136795967817,
                        "pitch": 0.3573281466960907,
                        "yaw": 179.2265167236328
                    }
                },
                "velocity": {
                    "x": -10.872878074645996,
                    "y": 0.1358676701784134,
                    "z": 0.0629676803946495
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.885607719421387,
                "transform": {
                    "location": {
                        "x": 706.6175537109375,
                        "y": 4286.84228515625,
                        "z": 369.6541748046875
                    },
                    "rotation": {
                        "roll": 1.765958768373821e-05,
                        "pitch": 0.06887562572956085,
                        "yaw": 179.66526794433594
                    }
                },
                "velocity": {
                    "x": -8.88530445098877,
                    "y": 0.05206621065735817,
                    "z": 0.05170668661594391
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0015640544006600976,
                "transform": {
                    "location": {
                        "x": 624.9630737304688,
                        "y": 4287.42333984375,
                        "z": 370.08697509765625
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": 0.2879470884799957,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 6.432048849092098e-06,
                    "y": -0.00011316243035253137,
                    "z": 0.0015599420294165611
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.051177978515625,
                "transform": {
                    "location": {
                        "x": 717.8382568359375,
                        "y": 4290.02099609375,
                        "z": 369.5848388671875
                    },
                    "rotation": {
                        "roll": 0.0005981657304801047,
                        "pitch": 0.521956205368042,
                        "yaw": 179.60751342773438
                    }
                },
                "velocity": {
                    "x": -6.050943851470947,
                    "y": 0.03953791409730911,
                    "z": 0.035607241094112396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.755146980285645,
                "transform": {
                    "location": {
                        "x": 699.865478515625,
                        "y": 4290.13037109375,
                        "z": 369.6919860839844
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": 0.17815181612968445,
                        "yaw": 179.63006591796875
                    }
                },
                "velocity": {
                    "x": -8.754851341247559,
                    "y": 0.0524178110063076,
                    "z": 0.04922756180167198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.03460693359375,
                "transform": {
                    "location": {
                        "x": 680.452392578125,
                        "y": 4290.244140625,
                        "z": 369.8314514160156
                    },
                    "rotation": {
                        "roll": 6.286372808972374e-05,
                        "pitch": 0.32265812158584595,
                        "yaw": 179.65711975097656
                    }
                },
                "velocity": {
                    "x": -8.03433609008789,
                    "y": 0.04809014871716499,
                    "z": 0.04515397921204567
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021306037902832,
                "transform": {
                    "location": {
                        "x": 661.8949584960938,
                        "y": 4290.353515625,
                        "z": 369.89215087890625
                    },
                    "rotation": {
                        "roll": -0.0024108889047056437,
                        "pitch": 0.309202641248703,
                        "yaw": 179.65911865234375
                    }
                },
                "velocity": {
                    "x": -8.021039962768555,
                    "y": 0.04777885228395462,
                    "z": 0.04452843591570854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06005670502781868,
        "expert_target_speed": 10.0,
        "target_point": [
            55.6520105635199,
            -0.572948222353456
        ],
        "target_point_next": [
            106.64971356251417,
            -1.0542684961406668
        ]
    },
    "150": {
        "acceleration": [
            -1.2459182739257812,
            0.09241662919521332,
            -0.016514435410499573
        ],
        "angular_velocity": [
            0.20515766739845276,
            -0.12251361459493637,
            -2.2812883853912354
        ],
        "forward_vector": [
            -0.9999248385429382,
            -0.003981463145464659,
            0.011594630777835846
        ],
        "right_vector": [
            0.003981218207627535,
            -0.9999920725822449,
            -4.419857214088552e-05
        ],
        "location": [
            683.7799682617188,
            4287.0029296875,
            369.77301025390625
        ],
        "rotation": [
            0.00253256200812757,
            0.6643382906913757,
            -179.77186584472656
        ],
        "velocity": [
            -10.094022750854492,
            -0.0343446210026741,
            0.05594535544514656
        ],
        "speed": 10.094081178976118,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 41.29500198364258,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.863668918609619,
                "transform": {
                    "location": {
                        "x": 628.145751953125,
                        "y": 4297.21044921875,
                        "z": 370.0657653808594
                    },
                    "rotation": {
                        "roll": 0.002222382929176092,
                        "pitch": -0.3430462181568146,
                        "yaw": 0.1540779322385788
                    }
                },
                "velocity": {
                    "x": 6.863574028015137,
                    "y": 0.0021325163543224335,
                    "z": -0.03602265939116478
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.203627586364746,
                "transform": {
                    "location": {
                        "x": 630.03125,
                        "y": 4293.955078125,
                        "z": 370.0624084472656
                    },
                    "rotation": {
                        "roll": 0.01087899785488844,
                        "pitch": -0.2944630980491638,
                        "yaw": 0.07449190318584442
                    }
                },
                "velocity": {
                    "x": 8.203519821166992,
                    "y": 0.00702561903744936,
                    "z": -0.041510384529829025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.00684642791748,
                "transform": {
                    "location": {
                        "x": 670.1947021484375,
                        "y": 4297.00439453125,
                        "z": 369.853271484375
                    },
                    "rotation": {
                        "roll": 7.841460319468752e-05,
                        "pitch": -0.3235187232494354,
                        "yaw": -0.3326720893383026
                    }
                },
                "velocity": {
                    "x": 8.006598472595215,
                    "y": -0.04509478434920311,
                    "z": -0.04392209276556969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.987021446228027,
                "transform": {
                    "location": {
                        "x": 670.52294921875,
                        "y": 4293.75341796875,
                        "z": 369.85308837890625
                    },
                    "rotation": {
                        "roll": 0.001224815845489502,
                        "pitch": -0.33691954612731934,
                        "yaw": -0.32135009765625
                    }
                },
                "velocity": {
                    "x": 7.9867682456970215,
                    "y": -0.04577169194817543,
                    "z": -0.0441741980612278
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085017204284668,
                "transform": {
                    "location": {
                        "x": 712.10302734375,
                        "y": 4296.759765625,
                        "z": 369.6111145019531
                    },
                    "rotation": {
                        "roll": 0.0009162495844066143,
                        "pitch": -0.3335249423980713,
                        "yaw": -0.3472289741039276
                    }
                },
                "velocity": {
                    "x": 8.08473014831543,
                    "y": -0.048129789531230927,
                    "z": -0.04814358055591583
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.738336563110352,
                "transform": {
                    "location": {
                        "x": 711.3712158203125,
                        "y": 4293.51318359375,
                        "z": 369.6219482421875
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.00036883019492961466,
                        "yaw": -0.3141479194164276
                    }
                },
                "velocity": {
                    "x": 8.738043785095215,
                    "y": -0.050496023148298264,
                    "z": -0.05073271319270134
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.76797103881836,
                "transform": {
                    "location": {
                        "x": 732.5971069335938,
                        "y": 4286.6748046875,
                        "z": 369.49139404296875
                    },
                    "rotation": {
                        "roll": -0.003601073520258069,
                        "pitch": 0.35628312826156616,
                        "yaw": 179.43576049804688
                    }
                },
                "velocity": {
                    "x": -11.767274856567383,
                    "y": 0.10823617875576019,
                    "z": 0.06844619661569595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.566048622131348,
                "transform": {
                    "location": {
                        "x": 704.4595336914062,
                        "y": 4286.8544921875,
                        "z": 369.6659240722656
                    },
                    "rotation": {
                        "roll": -0.0005798338679596782,
                        "pitch": 0.1763554811477661,
                        "yaw": 179.6693115234375
                    }
                },
                "velocity": {
                    "x": -8.565765380859375,
                    "y": 0.04953574016690254,
                    "z": 0.048868950456380844
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00010552138701314107,
                "transform": {
                    "location": {
                        "x": 624.9630737304688,
                        "y": 4287.42333984375,
                        "z": 370.0870666503906
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.2880973517894745,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 7.358081347774714e-06,
                    "y": -9.913577741826884e-06,
                    "z": 0.00010479667253093794
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.70865535736084,
                "transform": {
                    "location": {
                        "x": 716.3997192382812,
                        "y": 4290.03125,
                        "z": 369.59417724609375
                    },
                    "rotation": {
                        "roll": -0.0013427730882540345,
                        "pitch": 0.4092307686805725,
                        "yaw": 179.60231018066406
                    }
                },
                "velocity": {
                    "x": -5.708430767059326,
                    "y": 0.03780033811926842,
                    "z": 0.033659372478723526
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.013495445251465,
                "transform": {
                    "location": {
                        "x": 697.577880859375,
                        "y": 4290.14404296875,
                        "z": 369.70428466796875
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.27180737257003784,
                        "yaw": 179.62380981445312
                    }
                },
                "velocity": {
                    "x": -9.01317024230957,
                    "y": 0.05568012595176697,
                    "z": 0.05261658504605293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.974063873291016,
                "transform": {
                    "location": {
                        "x": 678.4598999023438,
                        "y": 4290.25634765625,
                        "z": 369.8426208496094
                    },
                    "rotation": {
                        "roll": -0.0001831055269576609,
                        "pitch": 0.3128431439399719,
                        "yaw": 179.6572265625
                    }
                },
                "velocity": {
                    "x": -7.973794937133789,
                    "y": 0.0476672388613224,
                    "z": 0.04493293538689613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989684581756592,
                "transform": {
                    "location": {
                        "x": 659.8942260742188,
                        "y": 4290.36572265625,
                        "z": 369.9029235839844
                    },
                    "rotation": {
                        "roll": 9.63541169767268e-05,
                        "pitch": 0.30996763706207275,
                        "yaw": 179.65626525878906
                    }
                },
                "velocity": {
                    "x": -7.989417552947998,
                    "y": 0.04795844480395317,
                    "z": 0.044332291930913925
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.329316109418869,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06968562304973602,
        "expert_target_speed": 10.0,
        "target_point": [
            53.23997963322199,
            -0.599191640506422
        ],
        "target_point_next": [
            104.23746032593235,
            -1.1035163139290578
        ]
    },
    "155": {
        "acceleration": [
            0.8468818664550781,
            0.10930072516202927,
            0.010569244623184204
        ],
        "angular_velocity": [
            0.06616763025522232,
            -0.8335015773773193,
            1.5850944519042969
        ],
        "forward_vector": [
            -0.9999749064445496,
            -0.0017486707074567676,
            0.006859844084829092
        ],
        "right_vector": [
            0.0017455746419727802,
            -0.9999983310699463,
            -0.00045728974509984255
        ],
        "location": [
            681.2938842773438,
            4286.99755859375,
            369.787841796875
        ],
        "rotation": [
            0.026201391592621803,
            0.3930432200431824,
            -179.89981079101562
        ],
        "velocity": [
            -9.792285919189453,
            -0.007863109931349754,
            0.05635300651192665
        ],
        "speed": 9.792289076189174,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 38.80928421020508,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.654144763946533,
                "transform": {
                    "location": {
                        "x": 629.6365966796875,
                        "y": 4297.21142578125,
                        "z": 370.0583190917969
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.3706948459148407,
                        "yaw": 0.0234330166131258
                    }
                },
                "velocity": {
                    "x": 5.6540703773498535,
                    "y": -0.0024001006968319416,
                    "z": -0.0288704764097929
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.007506370544434,
                "transform": {
                    "location": {
                        "x": 632.0565185546875,
                        "y": 4293.95556640625,
                        "z": 370.05206298828125
                    },
                    "rotation": {
                        "roll": 0.02338644489645958,
                        "pitch": -0.30148452520370483,
                        "yaw": -0.014434813521802425
                    }
                },
                "velocity": {
                    "x": 8.007391929626465,
                    "y": -0.013168123550713062,
                    "z": -0.04081755504012108
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.07406234741211,
                "transform": {
                    "location": {
                        "x": 672.2056274414062,
                        "y": 4296.9931640625,
                        "z": 369.84222412109375
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": -0.3106028437614441,
                        "yaw": -0.3023681044578552
                    }
                },
                "velocity": {
                    "x": 8.073808670043945,
                    "y": -0.04522111639380455,
                    "z": -0.0451769158244133
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.020760536193848,
                "transform": {
                    "location": {
                        "x": 672.5143432617188,
                        "y": 4293.74169921875,
                        "z": 369.8421325683594
                    },
                    "rotation": {
                        "roll": 0.001041766139678657,
                        "pitch": -0.31927716732025146,
                        "yaw": -0.326904296875
                    }
                },
                "velocity": {
                    "x": 8.020506858825684,
                    "y": -0.045656993985176086,
                    "z": -0.044622648507356644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051541328430176,
                "transform": {
                    "location": {
                        "x": 714.1199340820312,
                        "y": 4296.74853515625,
                        "z": 369.5993957519531
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": -0.33411234617233276,
                        "yaw": -0.345123291015625
                    }
                },
                "velocity": {
                    "x": 8.051251411437988,
                    "y": -0.04850737005472183,
                    "z": -0.04820122569799423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.266340255737305,
                "transform": {
                    "location": {
                        "x": 713.4926147460938,
                        "y": 4293.50146484375,
                        "z": 369.6129455566406
                    },
                    "rotation": {
                        "roll": -0.00045776375918649137,
                        "pitch": -0.4013623893260956,
                        "yaw": -0.33184814453125
                    }
                },
                "velocity": {
                    "x": 8.266059875488281,
                    "y": -0.047579918056726456,
                    "z": -0.04872746020555496
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.976719856262207,
                "transform": {
                    "location": {
                        "x": 729.5983276367188,
                        "y": 4286.69970703125,
                        "z": 369.50897216796875
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.34053272008895874,
                        "yaw": 179.5965576171875
                    }
                },
                "velocity": {
                    "x": -11.97620964050293,
                    "y": 0.08702149242162704,
                    "z": 0.0682319849729538
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.286784172058105,
                "transform": {
                    "location": {
                        "x": 702.2387084960938,
                        "y": 4286.8671875,
                        "z": 369.6761169433594
                    },
                    "rotation": {
                        "roll": 0.0007310601067729294,
                        "pitch": 0.48765498399734497,
                        "yaw": 179.6719207763672
                    }
                },
                "velocity": {
                    "x": -9.286480903625488,
                    "y": 0.052913691848516464,
                    "z": 0.053099676966667175
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.001206960529088974,
                "transform": {
                    "location": {
                        "x": 624.9630737304688,
                        "y": 4287.42333984375,
                        "z": 370.0870666503906
                    },
                    "rotation": {
                        "roll": -0.0018615720327943563,
                        "pitch": 0.2880973517894745,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 2.2861957404529676e-05,
                    "y": 3.940427995985374e-05,
                    "z": 0.0012061004526913166
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.142609119415283,
                "transform": {
                    "location": {
                        "x": 714.9100341796875,
                        "y": 4290.041015625,
                        "z": 369.6037292480469
                    },
                    "rotation": {
                        "roll": 0.0011666730279102921,
                        "pitch": 0.29185396432876587,
                        "yaw": 179.66839599609375
                    }
                },
                "velocity": {
                    "x": -6.142393589019775,
                    "y": 0.03756251931190491,
                    "z": 0.03513520210981369
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.75556468963623,
                "transform": {
                    "location": {
                        "x": 695.3861694335938,
                        "y": 4290.15771484375,
                        "z": 369.7164306640625
                    },
                    "rotation": {
                        "roll": 0.0010342919267714024,
                        "pitch": 0.34241101145744324,
                        "yaw": 179.67352294921875
                    }
                },
                "velocity": {
                    "x": -8.755279541015625,
                    "y": 0.05005428194999695,
                    "z": 0.04986054450273514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.059484481811523,
                "transform": {
                    "location": {
                        "x": 676.4529418945312,
                        "y": 4290.267578125,
                        "z": 369.8536682128906
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.3259912431240082,
                        "yaw": 179.65704345703125
                    }
                },
                "velocity": {
                    "x": -8.05921459197998,
                    "y": 0.048194970935583115,
                    "z": 0.04494478181004524
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021446228027344,
                "transform": {
                    "location": {
                        "x": 657.8929443359375,
                        "y": 4290.376953125,
                        "z": 369.9136657714844
                    },
                    "rotation": {
                        "roll": -0.001007080078125,
                        "pitch": 0.30836254358291626,
                        "yaw": 179.65509033203125
                    }
                },
                "velocity": {
                    "x": -8.021178245544434,
                    "y": 0.0482267402112484,
                    "z": 0.04437248036265373
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07577276229858398,
        "expert_target_speed": 10.0,
        "target_point": [
            50.75509533027117,
            -0.4813278447065803
        ],
        "target_point_next": [
            101.75357504609899,
            -0.8717725320642573
        ]
    },
    "160": {
        "acceleration": [
            5.724945068359375,
            0.08541252464056015,
            -0.05286864936351776
        ],
        "angular_velocity": [
            0.026578634977340698,
            -1.5556882619857788,
            -1.0871251821517944
        ],
        "forward_vector": [
            -0.9999992847442627,
            0.0012122706975787878,
            -7.390975497401087e-06
        ],
        "right_vector": [
            -0.001212265924550593,
            -0.9999991059303284,
            -0.0006140814512036741
        ],
        "location": [
            678.98193359375,
            4286.99853515625,
            369.8023376464844
        ],
        "rotation": [
            0.03518427908420563,
            -0.0004234717052895576,
            179.9305419921875
        ],
        "velocity": [
            -8.497920036315918,
            0.01731771230697632,
            0.04741393029689789
        ],
        "speed": 8.49793768197785,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 36.49785614013672,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.775404930114746,
                "transform": {
                    "location": {
                        "x": 631.0737915039062,
                        "y": 4297.2109375,
                        "z": 370.0504455566406
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.2981582283973694,
                        "yaw": -0.0581359788775444
                    }
                },
                "velocity": {
                    "x": 5.775331974029541,
                    "y": -0.003337766509503126,
                    "z": -0.02885306254029274
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.823878765106201,
                "transform": {
                    "location": {
                        "x": 634.0792236328125,
                        "y": 4293.951171875,
                        "z": 370.041748046875
                    },
                    "rotation": {
                        "roll": 0.018961720168590546,
                        "pitch": -0.3184780478477478,
                        "yaw": -0.1377868801355362
                    }
                },
                "velocity": {
                    "x": 7.823746681213379,
                    "y": -0.022495435550808907,
                    "z": -0.03942912444472313
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052453994750977,
                "transform": {
                    "location": {
                        "x": 674.22265625,
                        "y": 4296.98095703125,
                        "z": 369.8310852050781
                    },
                    "rotation": {
                        "roll": 0.000293964782031253,
                        "pitch": -0.31869661808013916,
                        "yaw": -0.3385009765625
                    }
                },
                "velocity": {
                    "x": 8.052193641662598,
                    "y": -0.046346161514520645,
                    "z": -0.045196790248155594
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.091460227966309,
                "transform": {
                    "location": {
                        "x": 674.5352783203125,
                        "y": 4293.72998046875,
                        "z": 369.8309631347656
                    },
                    "rotation": {
                        "roll": 6.764059071429074e-05,
                        "pitch": -0.3071877360343933,
                        "yaw": -0.33038330078125
                    }
                },
                "velocity": {
                    "x": 8.091203689575195,
                    "y": -0.04653008282184601,
                    "z": -0.044544268399477005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084689140319824,
                "transform": {
                    "location": {
                        "x": 716.136962890625,
                        "y": 4296.736328125,
                        "z": 369.587646484375
                    },
                    "rotation": {
                        "roll": -0.0002136229886673391,
                        "pitch": -0.33493196964263916,
                        "yaw": -0.3474730849266052
                    }
                },
                "velocity": {
                    "x": 8.084394454956055,
                    "y": -0.049259405583143234,
                    "z": -0.048354797065258026
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.896605014801025,
                "transform": {
                    "location": {
                        "x": 715.5025024414062,
                        "y": 4293.48974609375,
                        "z": 369.6018371582031
                    },
                    "rotation": {
                        "roll": 0.0012077844003215432,
                        "pitch": -0.47820883989334106,
                        "yaw": -0.3381958305835724
                    }
                },
                "velocity": {
                    "x": 7.896326541900635,
                    "y": -0.04633154347538948,
                    "z": -0.04739871248602867
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.489181518554688,
                "transform": {
                    "location": {
                        "x": 726.62890625,
                        "y": 4286.720703125,
                        "z": 369.52630615234375
                    },
                    "rotation": {
                        "roll": -0.002044677734375,
                        "pitch": 0.3248301148414612,
                        "yaw": 179.63333129882812
                    }
                },
                "velocity": {
                    "x": -11.48874568939209,
                    "y": 0.07425248622894287,
                    "z": 0.06725612282752991
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.80708122253418,
                "transform": {
                    "location": {
                        "x": 699.812744140625,
                        "y": 4286.880859375,
                        "z": 369.6898498535156
                    },
                    "rotation": {
                        "roll": 0.0008031213073991239,
                        "pitch": 0.5215122103691101,
                        "yaw": 179.6737518310547
                    }
                },
                "velocity": {
                    "x": -9.806756019592285,
                    "y": 0.055886559188365936,
                    "z": 0.05702436342835426
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.10111482441425323,
                "transform": {
                    "location": {
                        "x": 624.9619750976562,
                        "y": 4287.42333984375,
                        "z": 370.0870361328125
                    },
                    "rotation": {
                        "roll": -0.002075194614008069,
                        "pitch": 0.29421037435531616,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": -0.10110586136579514,
                    "y": -0.000387070351280272,
                    "z": 0.001289539271965623
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.813634872436523,
                "transform": {
                    "location": {
                        "x": 713.1893310546875,
                        "y": 4290.05224609375,
                        "z": 369.61468505859375
                    },
                    "rotation": {
                        "roll": 0.0015068628126755357,
                        "pitch": 0.1797022670507431,
                        "yaw": 179.6962890625
                    }
                },
                "velocity": {
                    "x": -7.813380718231201,
                    "y": 0.044646721333265305,
                    "z": 0.04440318048000336
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.122428894042969,
                "transform": {
                    "location": {
                        "x": 693.2744140625,
                        "y": 4290.169921875,
                        "z": 369.72808837890625
                    },
                    "rotation": {
                        "roll": 0.0005190051742829382,
                        "pitch": 0.3802024722099304,
                        "yaw": 179.64065551757812
                    }
                },
                "velocity": {
                    "x": -8.122150421142578,
                    "y": 0.0477030873298645,
                    "z": 0.04739491268992424
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.025375366210938,
                "transform": {
                    "location": {
                        "x": 674.4406127929688,
                        "y": 4290.27978515625,
                        "z": 369.8648376464844
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": 0.3149605095386505,
                        "yaw": 179.65699768066406
                    }
                },
                "velocity": {
                    "x": -8.025107383728027,
                    "y": 0.0479927733540535,
                    "z": 0.04467960074543953
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989929676055908,
                "transform": {
                    "location": {
                        "x": 655.8920288085938,
                        "y": 4290.388671875,
                        "z": 369.9244079589844
                    },
                    "rotation": {
                        "roll": -0.0018005366437137127,
                        "pitch": 0.306135892868042,
                        "yaw": 179.6548309326172
                    }
                },
                "velocity": {
                    "x": -7.989668369293213,
                    "y": 0.04813193157315254,
                    "z": 0.043114423751831055
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09217163175344467,
        "expert_target_speed": 10.0,
        "target_point": [
            48.444347767688896,
            -0.3328820335713325
        ],
        "target_point_next": [
            99.44375994742529,
            -0.5723349536679533
        ]
    },
    "165": {
        "acceleration": [
            3.998727798461914,
            -0.13485275208950043,
            -0.028289034962654114
        ],
        "angular_velocity": [
            -0.19020108878612518,
            0.003979338798671961,
            0.4625875949859619
        ],
        "forward_vector": [
            -0.9999924302101135,
            0.0030347290448844433,
            -0.0024495096877217293
        ],
        "right_vector": [
            -0.0030338589567691088,
            -0.9999953508377075,
            -0.0003588520339690149
        ],
        "location": [
            677.01318359375,
            4287.00439453125,
            369.81378173828125
        ],
        "rotation": [
            0.020560769364237785,
            -0.1403467208147049,
            179.8261260986328
        ],
        "velocity": [
            -7.36575984954834,
            0.020355867221951485,
            0.04068758711218834
        ],
        "speed": 7.365787977029256,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 34.52973175048828,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.952484607696533,
                "transform": {
                    "location": {
                        "x": 632.7916870117188,
                        "y": 4297.20751953125,
                        "z": 370.0408935546875
                    },
                    "rotation": {
                        "roll": 0.0007778027793392539,
                        "pitch": -0.18218845129013062,
                        "yaw": -0.15234375
                    }
                },
                "velocity": {
                    "x": 7.952334880828857,
                    "y": -0.0265501756221056,
                    "z": -0.04091661050915718
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.049666404724121,
                "transform": {
                    "location": {
                        "x": 635.7217407226562,
                        "y": 4293.94580078125,
                        "z": 370.0352783203125
                    },
                    "rotation": {
                        "roll": 0.00942237675189972,
                        "pitch": -0.8037424683570862,
                        "yaw": -0.1582946628332138
                    }
                },
                "velocity": {
                    "x": 6.049552917480469,
                    "y": -0.019083501771092415,
                    "z": -0.03171885386109352
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.044986724853516,
                "transform": {
                    "location": {
                        "x": 676.2332763671875,
                        "y": 4296.9697265625,
                        "z": 369.8200378417969
                    },
                    "rotation": {
                        "roll": 0.0016976005863398314,
                        "pitch": -0.31894248723983765,
                        "yaw": -0.3105468451976776
                    }
                },
                "velocity": {
                    "x": 8.044732093811035,
                    "y": -0.045974671840667725,
                    "z": -0.04460727050900459
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.008374214172363,
                "transform": {
                    "location": {
                        "x": 676.5452270507812,
                        "y": 4293.71826171875,
                        "z": 369.81982421875
                    },
                    "rotation": {
                        "roll": 0.0007815120625309646,
                        "pitch": -0.3290921449661255,
                        "yaw": -0.3303527534008026
                    }
                },
                "velocity": {
                    "x": 8.008115768432617,
                    "y": -0.0460687056183815,
                    "z": -0.04493780434131622
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052088737487793,
                "transform": {
                    "location": {
                        "x": 718.15380859375,
                        "y": 4296.72509765625,
                        "z": 369.575927734375
                    },
                    "rotation": {
                        "roll": 0.0002780654758680612,
                        "pitch": -0.3327326476573944,
                        "yaw": -0.348846435546875
                    }
                },
                "velocity": {
                    "x": 8.051795959472656,
                    "y": -0.04898645728826523,
                    "z": -0.048079222440719604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075597763061523,
                "transform": {
                    "location": {
                        "x": 717.4934692382812,
                        "y": 4293.47802734375,
                        "z": 369.5888671875
                    },
                    "rotation": {
                        "roll": 0.001126154325902462,
                        "pitch": -0.32101887464523315,
                        "yaw": -0.342132568359375
                    }
                },
                "velocity": {
                    "x": 8.075311660766602,
                    "y": -0.049278225749731064,
                    "z": -0.04691370204091072
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.188157081604004,
                "transform": {
                    "location": {
                        "x": 723.9304809570312,
                        "y": 4286.73779296875,
                        "z": 369.5422058105469
                    },
                    "rotation": {
                        "roll": -0.0008239744347520173,
                        "pitch": 0.3051728308200836,
                        "yaw": 179.65939331054688
                    }
                },
                "velocity": {
                    "x": -10.187786102294922,
                    "y": 0.06336037069559097,
                    "z": 0.0596567802131176
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.926036834716797,
                "transform": {
                    "location": {
                        "x": 697.356689453125,
                        "y": 4286.89404296875,
                        "z": 369.7055358886719
                    },
                    "rotation": {
                        "roll": 0.00045511990902014077,
                        "pitch": 0.34292328357696533,
                        "yaw": 179.66957092285156
                    }
                },
                "velocity": {
                    "x": -9.925704002380371,
                    "y": 0.058184150606393814,
                    "z": 0.0568355917930603
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3377245664596558,
                "transform": {
                    "location": {
                        "x": 624.7425537109375,
                        "y": 4287.4228515625,
                        "z": 370.0870361328125
                    },
                    "rotation": {
                        "roll": -0.012603758834302425,
                        "pitch": 0.6147443056106567,
                        "yaw": 179.74395751953125
                    }
                },
                "velocity": {
                    "x": -1.3377004861831665,
                    "y": -0.005137848202139139,
                    "z": 0.006171808112412691
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 607.2410888671875,
                        "y": 4287.52734375,
                        "z": 370.311279296875
                    },
                    "rotation": {
                        "roll": 5.211078790701151e-11,
                        "pitch": 0.2710287272930145,
                        "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": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.85656452178955,
                "transform": {
                    "location": {
                        "x": 711.0926513671875,
                        "y": 4290.0634765625,
                        "z": 369.6265869140625
                    },
                    "rotation": {
                        "roll": 0.0009818340186029673,
                        "pitch": 0.21146264672279358,
                        "yaw": 179.6552276611328
                    }
                },
                "velocity": {
                    "x": -8.8562593460083,
                    "y": 0.0533650778234005,
                    "z": 0.050636641681194305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.225723743438721,
                "transform": {
                    "location": {
                        "x": 691.4923095703125,
                        "y": 4290.18310546875,
                        "z": 369.7374267578125
                    },
                    "rotation": {
                        "roll": 0.003311899257823825,
                        "pitch": 0.49243611097335815,
                        "yaw": -179.94485473632812
                    }
                },
                "velocity": {
                    "x": -6.22554349899292,
                    "y": 0.03187050670385361,
                    "z": 0.0350455567240715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.997804641723633,
                "transform": {
                    "location": {
                        "x": 672.441162109375,
                        "y": 4290.291015625,
                        "z": 369.8758544921875
                    },
                    "rotation": {
                        "roll": 0.00030360088567249477,
                        "pitch": 0.3168866038322449,
                        "yaw": 179.65731811523438
                    }
                },
                "velocity": {
                    "x": -7.997539520263672,
                    "y": 0.04790263995528221,
                    "z": 0.04405589774250984
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021566390991211,
                "transform": {
                    "location": {
                        "x": 653.890869140625,
                        "y": 4290.400390625,
                        "z": 369.93511962890625
                    },
                    "rotation": {
                        "roll": 0.0008985744207166135,
                        "pitch": 0.30599245429039,
                        "yaw": 179.65383911132812
                    }
                },
                "velocity": {
                    "x": -8.021309852600098,
                    "y": 0.04913884401321411,
                    "z": 0.041216373443603516
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1018163189291954,
        "expert_target_speed": 10.0,
        "target_point": [
            46.476115267906025,
            -0.2447080524285744
        ],
        "target_point_next": [
            97.47587914877992,
            -0.39121564505126155
        ]
    },
    "170": {
        "acceleration": [
            0.3435707092285156,
            -0.0875772163271904,
            -0.0191362202167511
        ],
        "angular_velocity": [
            -0.07253769785165787,
            1.022611141204834,
            0.4323296546936035
        ],
        "forward_vector": [
            -0.9999997615814209,
            0.0007070620195008814,
            -0.00018644331430550665
        ],
        "right_vector": [
            -0.0007071024156175554,
            -0.9999997615814209,
            0.00021678130724467337
        ],
        "location": [
            675.2542724609375,
            4287.00537109375,
            369.8230895996094
        ],
        "rotation": [
            -0.012420654296875,
            -0.010682415217161179,
            179.95948791503906
        ],
        "velocity": [
            -6.879555702209473,
            -0.007120348513126373,
            0.03779883310198784
        ],
        "speed": 6.879559386993169,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 32.77134704589844,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 596.2885131835938,
                        "y": 4294.0927734375,
                        "z": 370.3116455078125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.26208117604255676,
                        "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": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.34069538116455,
                "transform": {
                    "location": {
                        "x": 634.8814697265625,
                        "y": 4297.2001953125,
                        "z": 370.03070068359375
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -0.2448417842388153,
                        "yaw": -0.192901611328125
                    }
                },
                "velocity": {
                    "x": 8.340542793273926,
                    "y": -0.02805314213037491,
                    "z": -0.04209268093109131
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.045679569244385,
                "transform": {
                    "location": {
                        "x": 637.2307739257812,
                        "y": 4293.9404296875,
                        "z": 370.02630615234375
                    },
                    "rotation": {
                        "roll": 0.00984208844602108,
                        "pitch": -0.5083914399147034,
                        "yaw": -0.22650146484375
                    }
                },
                "velocity": {
                    "x": 6.045540809631348,
                    "y": -0.02718311920762062,
                    "z": -0.03056102618575096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.060127258300781,
                "transform": {
                    "location": {
                        "x": 678.2470092773438,
                        "y": 4296.95751953125,
                        "z": 369.8088073730469
                    },
                    "rotation": {
                        "roll": -0.0005493165808729827,
                        "pitch": -0.31948891282081604,
                        "yaw": -0.3426818549633026
                    }
                },
                "velocity": {
                    "x": 8.05987548828125,
                    "y": -0.04605802521109581,
                    "z": -0.043966639786958694
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05397891998291,
                "transform": {
                    "location": {
                        "x": 678.5519409179688,
                        "y": 4293.70654296875,
                        "z": 369.8087158203125
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -0.3173510730266571,
                        "yaw": -0.3332518935203552
                    }
                },
                "velocity": {
                    "x": 8.053723335266113,
                    "y": -0.04688370227813721,
                    "z": -0.04379964619874954
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084585189819336,
                "transform": {
                    "location": {
                        "x": 720.1708374023438,
                        "y": 4296.712890625,
                        "z": 369.5641784667969
                    },
                    "rotation": {
                        "roll": 0.00024169276002794504,
                        "pitch": -0.33278727531433105,
                        "yaw": -0.349151611328125
                    }
                },
                "velocity": {
                    "x": 8.084291458129883,
                    "y": -0.049239907413721085,
                    "z": -0.04820322245359421
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.145299911499023,
                "transform": {
                    "location": {
                        "x": 719.5291748046875,
                        "y": 4293.46630859375,
                        "z": 369.5767822265625
                    },
                    "rotation": {
                        "roll": 0.00012284290278330445,
                        "pitch": -0.2816428244113922,
                        "yaw": -0.347991943359375
                    }
                },
                "velocity": {
                    "x": 8.145008087158203,
                    "y": -0.0494992621243,
                    "z": -0.047998107969760895
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.22643756866455,
                "transform": {
                    "location": {
                        "x": 721.4013061523438,
                        "y": 4286.7529296875,
                        "z": 369.5566711425781
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.3283613324165344,
                        "yaw": 179.6412811279297
                    }
                },
                "velocity": {
                    "x": -10.226069450378418,
                    "y": 0.0621127113699913,
                    "z": 0.060495659708976746
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.739230155944824,
                "transform": {
                    "location": {
                        "x": 694.8603515625,
                        "y": 4286.90966796875,
                        "z": 369.7199401855469
                    },
                    "rotation": {
                        "roll": -0.0007934568566270173,
                        "pitch": 0.3109853267669678,
                        "yaw": 179.66110229492188
                    }
                },
                "velocity": {
                    "x": -9.738901138305664,
                    "y": 0.05742434039711952,
                    "z": 0.055803850293159485
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.2485404014587402,
                "transform": {
                    "location": {
                        "x": 624.2887573242188,
                        "y": 4287.42138671875,
                        "z": 370.08905029296875
                    },
                    "rotation": {
                        "roll": -0.011688231490552425,
                        "pitch": 0.6736615300178528,
                        "yaw": 179.86386108398438
                    }
                },
                "velocity": {
                    "x": -2.2484943866729736,
                    "y": -0.009951429441571236,
                    "z": 0.010349445044994354
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.13582037389278412,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.2253723144531
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": 0.2721215486526489,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -0.0006498064030893147,
                    "y": 0.0002345235989196226,
                    "z": -0.13581861555576324
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.882501602172852,
                "transform": {
                    "location": {
                        "x": 708.8237915039062,
                        "y": 4290.07763671875,
                        "z": 369.6389465332031
                    },
                    "rotation": {
                        "roll": 0.0014397816266864538,
                        "pitch": 0.309202641248703,
                        "yaw": 179.68038940429688
                    }
                },
                "velocity": {
                    "x": -8.882196426391602,
                    "y": 0.05260713770985603,
                    "z": 0.05147374048829079
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.135659217834473,
                "transform": {
                    "location": {
                        "x": 689.9696655273438,
                        "y": 4290.189453125,
                        "z": 369.7471008300781
                    },
                    "rotation": {
                        "roll": 0.0012531529646366835,
                        "pitch": 0.3642198145389557,
                        "yaw": 179.83883666992188
                    }
                },
                "velocity": {
                    "x": -6.135462284088135,
                    "y": 0.03587440773844719,
                    "z": 0.03367872163653374
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.061830520629883,
                "transform": {
                    "location": {
                        "x": 670.4313354492188,
                        "y": 4290.30322265625,
                        "z": 369.8868713378906
                    },
                    "rotation": {
                        "roll": 0.00045434871572069824,
                        "pitch": 0.31822532415390015,
                        "yaw": 179.65721130371094
                    }
                },
                "velocity": {
                    "x": -8.061566352844238,
                    "y": 0.04821661859750748,
                    "z": 0.043967608362436295
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989541053771973,
                "transform": {
                    "location": {
                        "x": 651.889892578125,
                        "y": 4290.412109375,
                        "z": 369.94573974609375
                    },
                    "rotation": {
                        "roll": -0.00030517581035383046,
                        "pitch": 0.3050089180469513,
                        "yaw": 179.65133666992188
                    }
                },
                "velocity": {
                    "x": -7.989287376403809,
                    "y": 0.04855939373373985,
                    "z": 0.04121844097971916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12602469325065613,
        "expert_target_speed": 10.0,
        "target_point": [
            44.71650829237125,
            -0.3531663148101527
        ],
        "target_point_next": [
            95.71579292667,
            -0.61839672288206
        ]
    },
    "175": {
        "acceleration": [
            -2.6603317260742188,
            -0.10004077106714249,
            0.01941107213497162
        ],
        "angular_velocity": [
            -0.039341576397418976,
            1.258063554763794,
            0.9219231009483337
        ],
        "forward_vector": [
            -0.999983549118042,
            -0.0024133888073265553,
            0.005200004670768976
        ],
        "right_vector": [
            0.0024154928978532553,
            -0.9999970197677612,
            0.000398403441067785
        ],
        "location": [
            673.4929809570312,
            4287.0009765625,
            369.8316345214844
        ],
        "rotation": [
            -0.0228271447122097,
            0.297939658164978,
            -179.86172485351562
        ],
        "velocity": [
            -7.287818908691406,
            -0.030586261302232742,
            0.038392324000597
        ],
        "speed": 7.287883092178444,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 31.010507583618164,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 596.367431640625,
                        "y": 4297.3427734375,
                        "z": 370.3978576660156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.26208117604255676,
                        "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": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 598.371337890625,
                        "y": 4294.08056640625,
                        "z": 370.26690673828125
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "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": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.812192916870117,
                "transform": {
                    "location": {
                        "x": 636.8870849609375,
                        "y": 4297.1923828125,
                        "z": 370.02099609375
                    },
                    "rotation": {
                        "roll": 0.001057988265529275,
                        "pitch": -0.3072150647640228,
                        "yaw": -0.206787109375
                    }
                },
                "velocity": {
                    "x": 7.812015056610107,
                    "y": -0.033166542649269104,
                    "z": -0.040996234863996506
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.121082305908203,
                "transform": {
                    "location": {
                        "x": 639.0478515625,
                        "y": 4293.93212890625,
                        "z": 370.0144348144531
                    },
                    "rotation": {
                        "roll": 0.007099653594195843,
                        "pitch": 0.16486026346683502,
                        "yaw": -0.2845153212547302
                    }
                },
                "velocity": {
                    "x": 8.120863914489746,
                    "y": -0.04190224036574364,
                    "z": -0.0422079972922802
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.048754692077637,
                "transform": {
                    "location": {
                        "x": 680.2605590820312,
                        "y": 4296.9462890625,
                        "z": 369.797607421875
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.3231498897075653,
                        "yaw": -0.3123168349266052
                    }
                },
                "velocity": {
                    "x": 8.048501968383789,
                    "y": -0.0457659475505352,
                    "z": -0.0444023534655571
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.051209449768066,
                "transform": {
                    "location": {
                        "x": 680.5670166015625,
                        "y": 4293.69482421875,
                        "z": 369.7974548339844
                    },
                    "rotation": {
                        "roll": -0.0010070801945403218,
                        "pitch": -0.32129207253456116,
                        "yaw": -0.336822509765625
                    }
                },
                "velocity": {
                    "x": 8.050946235656738,
                    "y": -0.047403573989868164,
                    "z": -0.044579558074474335
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051846504211426,
                "transform": {
                    "location": {
                        "x": 722.1876220703125,
                        "y": 4296.70166015625,
                        "z": 369.5524597167969
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.33291706442832947,
                        "yaw": -0.34912109375
                    }
                },
                "velocity": {
                    "x": 8.051559448242188,
                    "y": -0.04907727614045143,
                    "z": -0.04711717367172241
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070884704589844,
                "transform": {
                    "location": {
                        "x": 721.5551147460938,
                        "y": 4293.455078125,
                        "z": 369.56561279296875
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": -0.35607823729515076,
                        "yaw": -0.349029541015625
                    }
                },
                "velocity": {
                    "x": 8.070589065551758,
                    "y": -0.04911324754357338,
                    "z": -0.048590000718832016
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.91691780090332,
                "transform": {
                    "location": {
                        "x": 718.7612915039062,
                        "y": 4286.76904296875,
                        "z": 369.5719909667969
                    },
                    "rotation": {
                        "roll": 0.0009834610391408205,
                        "pitch": 0.34762927889823914,
                        "yaw": 179.6681671142578
                    }
                },
                "velocity": {
                    "x": -10.916546821594238,
                    "y": 0.06492774933576584,
                    "z": 0.062193602323532104
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.499600410461426,
                "transform": {
                    "location": {
                        "x": 692.5829467773438,
                        "y": 4286.9228515625,
                        "z": 369.7350158691406
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": 0.07048071920871735,
                        "yaw": 179.6597137451172
                    }
                },
                "velocity": {
                    "x": -8.499309539794922,
                    "y": 0.050344761461019516,
                    "z": 0.049079474061727524
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.360405206680298,
                "transform": {
                    "location": {
                        "x": 623.5750122070312,
                        "y": 4287.41845703125,
                        "z": 370.09222412109375
                    },
                    "rotation": {
                        "roll": -0.011230465956032276,
                        "pitch": 0.7544080018997192,
                        "yaw": -179.99002075195312
                    }
                },
                "velocity": {
                    "x": -3.360325336456299,
                    "y": -0.016322433948516846,
                    "z": 0.016462326049804688
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.014556295238435268,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.2125549316406
                    },
                    "rotation": {
                        "roll": -0.0005798338097520173,
                        "pitch": 0.2721557021141052,
                        "yaw": 179.66136169433594
                    }
                },
                "velocity": {
                    "x": -7.032439316390082e-05,
                    "y": -5.3897023462923244e-05,
                    "z": -0.014556026086211205
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.357167720794678,
                "transform": {
                    "location": {
                        "x": 706.7540283203125,
                        "y": 4290.08935546875,
                        "z": 369.64990234375
                    },
                    "rotation": {
                        "roll": 0.0014246973441913724,
                        "pitch": 0.44615477323532104,
                        "yaw": 179.6642303466797
                    }
                },
                "velocity": {
                    "x": -7.3569159507751465,
                    "y": 0.04277082532644272,
                    "z": 0.04324145242571831
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.504207134246826,
                "transform": {
                    "location": {
                        "x": 688.3711547851562,
                        "y": 4290.19873046875,
                        "z": 369.756591796875
                    },
                    "rotation": {
                        "roll": 0.001467310474254191,
                        "pitch": 0.294743150472641,
                        "yaw": 179.77572631835938
                    }
                },
                "velocity": {
                    "x": -6.504003047943115,
                    "y": 0.035964932292699814,
                    "z": 0.03689070791006088
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.993715286254883,
                "transform": {
                    "location": {
                        "x": 668.42529296875,
                        "y": 4290.314453125,
                        "z": 369.8978576660156
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.31246066093444824,
                        "yaw": 179.65699768066406
                    }
                },
                "velocity": {
                    "x": -7.99345064163208,
                    "y": 0.04782574251294136,
                    "z": 0.0441250205039978
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.02168083190918,
                "transform": {
                    "location": {
                        "x": 649.8886108398438,
                        "y": 4290.423828125,
                        "z": 369.95635986328125
                    },
                    "rotation": {
                        "roll": 0.0005123265436850488,
                        "pitch": 0.30468788743019104,
                        "yaw": 179.6505889892578
                    }
                },
                "velocity": {
                    "x": -8.02142333984375,
                    "y": 0.04883188754320145,
                    "z": 0.04167170450091362
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13927331566810608,
        "expert_target_speed": 7.9617606981221725,
        "target_point": [
            42.95389181775945,
            -0.4928214641881556
        ],
        "target_point_next": [
            93.95210073412652,
            -0.9171653131679947
        ]
    },
    "180": {
        "acceleration": [
            0.8460235595703125,
            -0.09202614426612854,
            -0.007991567254066467
        ],
        "angular_velocity": [
            0.032658807933330536,
            -0.5108543634414673,
            0.5312824845314026
        ],
        "forward_vector": [
            -0.9999538064002991,
            -0.005646178964525461,
            0.0077840485610067844
        ],
        "right_vector": [
            0.005650143139064312,
            -0.9999839663505554,
            0.0004873436992056668
        ],
        "location": [
            671.5963745117188,
            4286.99072265625,
            369.8414306640625
        ],
        "rotation": [
            -0.027923583984375,
            0.4459976553916931,
            -179.67648315429688
        ],
        "velocity": [
            -7.653120994567871,
            -0.056282252073287964,
            0.04095177724957466
        ],
        "speed": 7.653327946024132,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.114294052124023,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 598.4490356445312,
                        "y": 4297.33056640625,
                        "z": 370.31573486328125
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "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": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 600.4541015625,
                        "y": 4294.068359375,
                        "z": 370.2222595214844
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "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": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.152227401733398,
                "transform": {
                    "location": {
                        "x": 638.876953125,
                        "y": 4297.18359375,
                        "z": 370.0104064941406
                    },
                    "rotation": {
                        "roll": 0.0014072209596633911,
                        "pitch": -0.2886642813682556,
                        "yaw": -0.256195068359375
                    }
                },
                "velocity": {
                    "x": 8.152031898498535,
                    "y": -0.0383523590862751,
                    "z": -0.041347019374370575
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.218592643737793,
                "transform": {
                    "location": {
                        "x": 641.1275024414062,
                        "y": 4293.92236328125,
                        "z": 370.00439453125
                    },
                    "rotation": {
                        "roll": 0.0015402076533064246,
                        "pitch": -0.0365278497338295,
                        "yaw": -0.29962158203125
                    }
                },
                "velocity": {
                    "x": 8.218372344970703,
                    "y": -0.04117926210165024,
                    "z": -0.044051311910152435
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.054520606994629,
                "transform": {
                    "location": {
                        "x": 682.273193359375,
                        "y": 4296.93408203125,
                        "z": 369.78631591796875
                    },
                    "rotation": {
                        "roll": -0.00030517581035383046,
                        "pitch": -0.321626752614975,
                        "yaw": -0.3467101454734802
                    }
                },
                "velocity": {
                    "x": 8.0542573928833,
                    "y": -0.047835350036621094,
                    "z": -0.04419708624482155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03066635131836,
                "transform": {
                    "location": {
                        "x": 682.5757446289062,
                        "y": 4293.68310546875,
                        "z": 369.7862548828125
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.32473450899124146,
                        "yaw": -0.3375549614429474
                    }
                },
                "velocity": {
                    "x": 8.030397415161133,
                    "y": -0.04725465178489685,
                    "z": -0.045695263892412186
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085099220275879,
                "transform": {
                    "location": {
                        "x": 724.204833984375,
                        "y": 4296.68994140625,
                        "z": 369.5407409667969
                    },
                    "rotation": {
                        "roll": 0.000459342758404091,
                        "pitch": -0.33257555961608887,
                        "yaw": -0.3510741591453552
                    }
                },
                "velocity": {
                    "x": 8.08481216430664,
                    "y": -0.049659814685583115,
                    "z": -0.04672824218869209
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.036542892456055,
                "transform": {
                    "location": {
                        "x": 723.5652465820312,
                        "y": 4293.44287109375,
                        "z": 369.5538635253906
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -0.35165226459503174,
                        "yaw": -0.3519287109375
                    }
                },
                "velocity": {
                    "x": 8.036245346069336,
                    "y": -0.049335528165102005,
                    "z": -0.04846625775098801
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.786969184875488,
                "transform": {
                    "location": {
                        "x": 715.9210815429688,
                        "y": 4286.78564453125,
                        "z": 369.5883483886719
                    },
                    "rotation": {
                        "roll": 0.00028578509227372706,
                        "pitch": 0.35383111238479614,
                        "yaw": 179.65855407714844
                    }
                },
                "velocity": {
                    "x": -11.786565780639648,
                    "y": 0.06935238838195801,
                    "z": 0.06858544796705246
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.039715766906738,
                "transform": {
                    "location": {
                        "x": 690.5454711914062,
                        "y": 4286.93505859375,
                        "z": 369.7461242675781
                    },
                    "rotation": {
                        "roll": -9.155272709904239e-05,
                        "pitch": 0.14100924134254456,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -8.039450645446777,
                    "y": 0.04735003784298897,
                    "z": 0.04493265226483345
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.1076486110687256,
                "transform": {
                    "location": {
                        "x": 622.7507934570312,
                        "y": 4287.4150390625,
                        "z": 370.097412109375
                    },
                    "rotation": {
                        "roll": -0.004211424849927425,
                        "pitch": 0.4381224513053894,
                        "yaw": -179.87013244628906
                    }
                },
                "velocity": {
                    "x": -3.107558250427246,
                    "y": -0.017054803669452667,
                    "z": 0.01643546111881733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.001885335543192923,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.2112731933594
                    },
                    "rotation": {
                        "roll": -6.103518535383046e-05,
                        "pitch": 0.27227863669395447,
                        "yaw": 179.661376953125
                    }
                },
                "velocity": {
                    "x": 2.477168891346082e-06,
                    "y": 0.00023269624216482043,
                    "z": -0.0018709185533225536
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.172697067260742,
                "transform": {
                    "location": {
                        "x": 705.1346435546875,
                        "y": 4290.10009765625,
                        "z": 369.6592102050781
                    },
                    "rotation": {
                        "roll": 0.0010910534765571356,
                        "pitch": 0.45042362809181213,
                        "yaw": 179.91180419921875
                    }
                },
                "velocity": {
                    "x": -6.172497272491455,
                    "y": 0.03341805934906006,
                    "z": 0.03673848882317543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.433382034301758,
                "transform": {
                    "location": {
                        "x": 686.446533203125,
                        "y": 4290.20947265625,
                        "z": 369.7685852050781
                    },
                    "rotation": {
                        "roll": 0.0003718578373081982,
                        "pitch": 0.1675923466682434,
                        "yaw": 179.7291717529297
                    }
                },
                "velocity": {
                    "x": -8.433104515075684,
                    "y": 0.04915420338511467,
                    "z": 0.047523707151412964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048177719116211,
                "transform": {
                    "location": {
                        "x": 666.4207153320312,
                        "y": 4290.326171875,
                        "z": 369.9088134765625
                    },
                    "rotation": {
                        "roll": 0.00039257999742403626,
                        "pitch": 0.31623774766921997,
                        "yaw": 179.6533966064453
                    }
                },
                "velocity": {
                    "x": -8.047904014587402,
                    "y": 0.04874217510223389,
                    "z": 0.04511239752173424
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.9895782470703125,
                "transform": {
                    "location": {
                        "x": 647.8875732421875,
                        "y": 4290.435546875,
                        "z": 369.96697998046875
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.304503470659256,
                        "yaw": 179.65025329589844
                    }
                },
                "velocity": {
                    "x": -7.989323616027832,
                    "y": 0.04874318838119507,
                    "z": 0.04112241789698601
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.16004663705825806,
        "expert_target_speed": 10.0,
        "target_point": [
            41.055439663359785,
            -0.6312513661064777
        ],
        "target_point_next": [
            92.05200989967537,
            -1.2204919893830024
        ]
    },
    "185": {
        "acceleration": [
            3.200387954711914,
            -0.06143808364868164,
            -0.019705593585968018
        ],
        "angular_velocity": [
            0.0741179883480072,
            -0.9869458675384521,
            1.1222994327545166
        ],
        "forward_vector": [
            -0.99995356798172,
            -0.008959982544183731,
            0.0035480186343193054
        ],
        "right_vector": [
            0.00896178837865591,
            -0.9999597668647766,
            0.0004932142328470945
        ],
        "location": [
            669.7603149414062,
            4286.97509765625,
            369.8523254394531
        ],
        "rotation": [
            -0.02825927548110485,
            0.20328691601753235,
            -179.4866180419922
        ],
        "velocity": [
            -7.0043792724609375,
            -0.07466824352741241,
            0.039445944130420685
        ],
        "speed": 7.004777251210197,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 27.278499603271484,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 600.5306396484375,
                        "y": 4297.31787109375,
                        "z": 370.2335510253906
                    },
                    "rotation": {
                        "roll": -5.211078443756456e-11,
                        "pitch": -0.26897966861724854,
                        "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": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.056876182556152,
                "transform": {
                    "location": {
                        "x": 602.4988403320312,
                        "y": 4294.05859375,
                        "z": 370.194091796875
                    },
                    "rotation": {
                        "roll": -0.004638671409338713,
                        "pitch": -0.27425938844680786,
                        "yaw": -0.18731689453125
                    }
                },
                "velocity": {
                    "x": 8.056614875793457,
                    "y": 0.0005352629232220352,
                    "z": -0.06489308178424835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.040325164794922,
                "transform": {
                    "location": {
                        "x": 640.9110107421875,
                        "y": 4297.173828125,
                        "z": 369.9999084472656
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.3016279637813568,
                        "yaw": -0.2671813368797302
                    }
                },
                "velocity": {
                    "x": 8.040136337280273,
                    "y": -0.037413340061903,
                    "z": -0.04047373682260513
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.807687759399414,
                "transform": {
                    "location": {
                        "x": 643.1114501953125,
                        "y": 4293.91259765625,
                        "z": 369.99505615234375
                    },
                    "rotation": {
                        "roll": 0.002461397787556052,
                        "pitch": -0.3407581150531769,
                        "yaw": -0.2836608588695526
                    }
                },
                "velocity": {
                    "x": 7.807476043701172,
                    "y": -0.040496211498975754,
                    "z": -0.04080900922417641
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052796363830566,
                "transform": {
                    "location": {
                        "x": 684.2866821289062,
                        "y": 4296.9228515625,
                        "z": 369.7749938964844
                    },
                    "rotation": {
                        "roll": 0.00026700348826125264,
                        "pitch": -0.3234572410583496,
                        "yaw": -0.31988525390625
                    }
                },
                "velocity": {
                    "x": 8.05252742767334,
                    "y": -0.0475727804005146,
                    "z": -0.045349739491939545
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.053343772888184,
                "transform": {
                    "location": {
                        "x": 684.5864868164062,
                        "y": 4293.67138671875,
                        "z": 369.77496337890625
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": -0.32306110858917236,
                        "yaw": -0.3374023139476776
                    }
                },
                "velocity": {
                    "x": 8.053084373474121,
                    "y": -0.047334540635347366,
                    "z": -0.044004276394844055
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051162719726562,
                "transform": {
                    "location": {
                        "x": 726.2216796875,
                        "y": 4296.67822265625,
                        "z": 369.5289611816406
                    },
                    "rotation": {
                        "roll": 0.00123797042760998,
                        "pitch": -0.3321520686149597,
                        "yaw": -0.352783203125
                    }
                },
                "velocity": {
                    "x": 8.050872802734375,
                    "y": -0.05031708627939224,
                    "z": -0.04624859243631363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.113238334655762,
                "transform": {
                    "location": {
                        "x": 725.5856323242188,
                        "y": 4293.431640625,
                        "z": 369.5418701171875
                    },
                    "rotation": {
                        "roll": -0.0007324219332076609,
                        "pitch": -0.3213467299938202,
                        "yaw": -0.35205078125
                    }
                },
                "velocity": {
                    "x": 8.112937927246094,
                    "y": -0.04987257719039917,
                    "z": -0.048761747777462006
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.265836715698242,
                "transform": {
                    "location": {
                        "x": 712.9932861328125,
                        "y": 4286.80322265625,
                        "z": 369.6055908203125
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.3266606032848358,
                        "yaw": 179.67431640625
                    }
                },
                "velocity": {
                    "x": -11.265447616577148,
                    "y": 0.06598784029483795,
                    "z": 0.06639169901609421
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.629094123840332,
                "transform": {
                    "location": {
                        "x": 688.4688720703125,
                        "y": 4286.94677734375,
                        "z": 369.7552795410156
                    },
                    "rotation": {
                        "roll": 0.000632251612842083,
                        "pitch": 0.4529166519641876,
                        "yaw": 179.6622772216797
                    }
                },
                "velocity": {
                    "x": -8.628813743591309,
                    "y": 0.05088011175394058,
                    "z": 0.047452669590711594
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.319897174835205,
                "transform": {
                    "location": {
                        "x": 621.953369140625,
                        "y": 4287.41162109375,
                        "z": 370.10162353515625
                    },
                    "rotation": {
                        "roll": -0.0021057124249637127,
                        "pitch": 0.37794166803359985,
                        "yaw": -179.7925567626953
                    }
                },
                "velocity": {
                    "x": -3.3197946548461914,
                    "y": -0.019416270777583122,
                    "z": 0.01747719757258892
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0013558472273871303,
                "transform": {
                    "location": {
                        "x": 607.2408447265625,
                        "y": 4287.52734375,
                        "z": 370.2112121582031
                    },
                    "rotation": {
                        "roll": -0.0014648434007540345,
                        "pitch": 0.2725655138492584,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 4.3727081902034115e-06,
                    "y": -0.00035712795215658844,
                    "z": -0.0013079610653221607
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.538610935211182,
                "transform": {
                    "location": {
                        "x": 703.5631713867188,
                        "y": 4290.10791015625,
                        "z": 369.6695251464844
                    },
                    "rotation": {
                        "roll": -0.0001525877887615934,
                        "pitch": 0.3171803057193756,
                        "yaw": 179.74417114257812
                    }
                },
                "velocity": {
                    "x": -6.538387775421143,
                    "y": 0.03913063555955887,
                    "z": 0.037259768694639206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.411839485168457,
                "transform": {
                    "location": {
                        "x": 684.2010498046875,
                        "y": 4290.22265625,
                        "z": 369.7808837890625
                    },
                    "rotation": {
                        "roll": 0.0011306898668408394,
                        "pitch": 0.2134980410337448,
                        "yaw": 179.68299865722656
                    }
                },
                "velocity": {
                    "x": -9.41154670715332,
                    "y": 0.05227138102054596,
                    "z": 0.05278708413243294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009364128112793,
                "transform": {
                    "location": {
                        "x": 664.4129028320312,
                        "y": 4290.337890625,
                        "z": 369.919677734375
                    },
                    "rotation": {
                        "roll": -0.0013427734375,
                        "pitch": 0.312740683555603,
                        "yaw": 179.64974975585938
                    }
                },
                "velocity": {
                    "x": -8.009087562561035,
                    "y": 0.049186818301677704,
                    "z": 0.044763125479221344
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021677017211914,
                "transform": {
                    "location": {
                        "x": 645.8862915039062,
                        "y": 4290.447265625,
                        "z": 369.97747802734375
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.30219486355781555,
                        "yaw": 179.6493682861328
                    }
                },
                "velocity": {
                    "x": -8.021413803100586,
                    "y": 0.04986640438437462,
                    "z": 0.0415843203663826
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.20837189257144928,
        "expert_target_speed": 10.0,
        "target_point": [
            39.216996736768536,
            -0.7664595749470875
        ],
        "target_point_next": [
            90.21133454383909,
            -1.5246759015728162
        ]
    },
    "190": {
        "acceleration": [
            9.003896713256836,
            0.07424674928188324,
            -0.059019848704338074
        ],
        "angular_velocity": [
            0.0067936633713543415,
            -2.234201431274414,
            -1.8336340188980103
        ],
        "forward_vector": [
            -0.9999410510063171,
            -0.010860142298042774,
            3.659724825411104e-05
        ],
        "right_vector": [
            0.010860142298042774,
            -0.9999410510063171,
            2.1305284008121816e-06
        ],
        "location": [
            668.099853515625,
            4286.95849609375,
            369.86224365234375
        ],
        "rotation": [
            -0.00012207029067212716,
            0.002096867887303233,
            -179.37774658203125
        ],
        "velocity": [
            -5.922765254974365,
            -0.05641312152147293,
            0.03235381096601486
        ],
        "speed": 5.923033910574154,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 25.618247985839844,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.031609535217285,
                "transform": {
                    "location": {
                        "x": 602.565673828125,
                        "y": 4297.31787109375,
                        "z": 370.18896484375
                    },
                    "rotation": {
                        "roll": -0.04144287109375,
                        "pitch": -0.3042917549610138,
                        "yaw": 0.049083780497312546
                    }
                },
                "velocity": {
                    "x": 8.031472206115723,
                    "y": 0.022615283727645874,
                    "z": -0.04108474776148796
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085410118103027,
                "transform": {
                    "location": {
                        "x": 604.5167846679688,
                        "y": 4294.0615234375,
                        "z": 370.1842956542969
                    },
                    "rotation": {
                        "roll": -0.00555419921875,
                        "pitch": -0.2723742723464966,
                        "yaw": 0.15825791656970978
                    }
                },
                "velocity": {
                    "x": 8.085254669189453,
                    "y": 0.03701024875044823,
                    "z": -0.03376172110438347
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025492668151855,
                "transform": {
                    "location": {
                        "x": 642.91162109375,
                        "y": 4297.1640625,
                        "z": 369.9894714355469
                    },
                    "rotation": {
                        "roll": 0.00012649506970774382,
                        "pitch": -0.30300766229629517,
                        "yaw": -0.2884215712547302
                    }
                },
                "velocity": {
                    "x": 8.025275230407715,
                    "y": -0.0422699935734272,
                    "z": -0.04136376827955246
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.149565696716309,
                "transform": {
                    "location": {
                        "x": 645.105224609375,
                        "y": 4293.90185546875,
                        "z": 369.9842224121094
                    },
                    "rotation": {
                        "roll": 0.000959013297688216,
                        "pitch": -0.23803891241550446,
                        "yaw": -0.3210754096508026
                    }
                },
                "velocity": {
                    "x": 8.149343490600586,
                    "y": -0.043813422322273254,
                    "z": -0.04123402014374733
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05195426940918,
                "transform": {
                    "location": {
                        "x": 686.2997436523438,
                        "y": 4296.91064453125,
                        "z": 369.7637023925781
                    },
                    "rotation": {
                        "roll": 0.000603211869020015,
                        "pitch": -0.32552680373191833,
                        "yaw": -0.349853515625
                    }
                },
                "velocity": {
                    "x": 8.0516939163208,
                    "y": -0.0467715747654438,
                    "z": -0.044771790504455566
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03963851928711,
                "transform": {
                    "location": {
                        "x": 686.5982055664062,
                        "y": 4293.65966796875,
                        "z": 369.7635803222656
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": -0.32668793201446533,
                        "yaw": -0.337432861328125
                    }
                },
                "velocity": {
                    "x": 8.039373397827148,
                    "y": -0.04735969379544258,
                    "z": -0.04496610164642334
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084342956542969,
                "transform": {
                    "location": {
                        "x": 728.2387084960938,
                        "y": 4296.6650390625,
                        "z": 369.5173034667969
                    },
                    "rotation": {
                        "roll": 0.0016957116313278675,
                        "pitch": -0.3335864245891571,
                        "yaw": -0.3609313666820526
                    }
                },
                "velocity": {
                    "x": 8.084044456481934,
                    "y": -0.051752932369709015,
                    "z": -0.04627104103565216
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066807746887207,
                "transform": {
                    "location": {
                        "x": 727.608642578125,
                        "y": 4293.41943359375,
                        "z": 369.5301818847656
                    },
                    "rotation": {
                        "roll": 0.0004066372930537909,
                        "pitch": -0.33432409167289734,
                        "yaw": -0.3522339463233948
                    }
                },
                "velocity": {
                    "x": 8.066510200500488,
                    "y": -0.04954995587468147,
                    "z": -0.04845970496535301
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.664663314819336,
                "transform": {
                    "location": {
                        "x": 710.289306640625,
                        "y": 4286.81884765625,
                        "z": 369.62139892578125
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.32047927379608154,
                        "yaw": 179.65968322753906
                    }
                },
                "velocity": {
                    "x": -10.664294242858887,
                    "y": 0.062249522656202316,
                    "z": 0.06318416446447372
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.162418365478516,
                "transform": {
                    "location": {
                        "x": 686.3511352539062,
                        "y": 4286.95947265625,
                        "z": 369.7681579589844
                    },
                    "rotation": {
                        "roll": -0.00012207020336063579,
                        "pitch": 0.31849852204322815,
                        "yaw": 179.6622772216797
                    }
                },
                "velocity": {
                    "x": -8.162137031555176,
                    "y": 0.04810420051217079,
                    "z": 0.04765567556023598
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.273200511932373,
                "transform": {
                    "location": {
                        "x": 621.2496337890625,
                        "y": 4287.408203125,
                        "z": 370.1063232421875
                    },
                    "rotation": {
                        "roll": 0.0016105415998026729,
                        "pitch": 0.07375238090753555,
                        "yaw": -179.7422332763672
                    }
                },
                "velocity": {
                    "x": -2.2731306552886963,
                    "y": -0.013975617475807667,
                    "z": 0.011046857573091984
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0014026162680238485,
                "transform": {
                    "location": {
                        "x": 607.2408447265625,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": 0.27266114950180054,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": -5.7982651924248785e-06,
                    "y": -1.049871752911713e-05,
                    "z": -0.0014025650452822447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.821850776672363,
                "transform": {
                    "location": {
                        "x": 701.8356323242188,
                        "y": 4290.1181640625,
                        "z": 369.68017578125
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": 0.22146204113960266,
                        "yaw": 179.73927307128906
                    }
                },
                "velocity": {
                    "x": -7.821584701538086,
                    "y": 0.046781327575445175,
                    "z": 0.0444226935505867
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.996150016784668,
                "transform": {
                    "location": {
                        "x": 681.899658203125,
                        "y": 4290.236328125,
                        "z": 369.7928161621094
                    },
                    "rotation": {
                        "roll": 2.9026181437075138e-05,
                        "pitch": 0.3308885097503662,
                        "yaw": 179.6696319580078
                    }
                },
                "velocity": {
                    "x": -8.995855331420898,
                    "y": 0.05181259661912918,
                    "z": 0.05109618976712227
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.038520812988281,
                "transform": {
                    "location": {
                        "x": 662.407470703125,
                        "y": 4290.35009765625,
                        "z": 369.9305725097656
                    },
                    "rotation": {
                        "roll": 0.0002033912023762241,
                        "pitch": 0.310090571641922,
                        "yaw": 179.64479064941406
                    }
                },
                "velocity": {
                    "x": -8.03824234008789,
                    "y": 0.04980824515223503,
                    "z": 0.04473387449979782
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989960670471191,
                "transform": {
                    "location": {
                        "x": 643.8851928710938,
                        "y": 4290.458984375,
                        "z": 369.9880065917969
                    },
                    "rotation": {
                        "roll": 0.0011986587196588516,
                        "pitch": 0.29892322421073914,
                        "yaw": 179.6467742919922
                    }
                },
                "velocity": {
                    "x": -7.989706039428711,
                    "y": 0.049172233790159225,
                    "z": 0.040608376264572144
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.24877022206783295,
        "expert_target_speed": 10.0,
        "target_point": [
            37.55492571446151,
            -0.8395457009252185
        ],
        "target_point_next": [
            88.5477306989603,
            -1.6946598409459694
        ]
    },
    "195": {
        "acceleration": [
            6.30279541015625,
            0.06378442049026489,
            -0.011880695819854736
        ],
        "angular_velocity": [
            0.021801939234137535,
            -0.4789320230484009,
            -0.24056681990623474
        ],
        "forward_vector": [
            -0.9999293088912964,
            -0.011162344366312027,
            -0.004100191872566938
        ],
        "right_vector": [
            0.011162440292537212,
            -0.9999377131462097,
            -4.2441203618182044e-07
        ],
        "location": [
            666.8178100585938,
            4286.94580078125,
            369.8699035644531
        ],
        "rotation": [
            2.4317221686942503e-05,
            -0.2349243462085724,
            -179.3604278564453
        ],
        "velocity": [
            -4.440886974334717,
            -0.04372384026646614,
            0.022350843995809555
        ],
        "speed": 4.441102216007126,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 24.336400985717773,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.264463424682617,
                "transform": {
                    "location": {
                        "x": 604.6048583984375,
                        "y": 4297.3232421875,
                        "z": 370.1903381347656
                    },
                    "rotation": {
                        "roll": -0.009704588912427425,
                        "pitch": -0.26874059438705444,
                        "yaw": 0.22792071104049683
                    }
                },
                "velocity": {
                    "x": 8.264388084411621,
                    "y": 0.03344663605093956,
                    "z": 0.011158781126141548
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.040106773376465,
                "transform": {
                    "location": {
                        "x": 606.5322265625,
                        "y": 4294.0712890625,
                        "z": 370.1754455566406
                    },
                    "rotation": {
                        "roll": -0.004150390625,
                        "pitch": -0.27130192518234253,
                        "yaw": 0.3375358581542969
                    }
                },
                "velocity": {
                    "x": 8.039857864379883,
                    "y": 0.05096684396266937,
                    "z": -0.037574220448732376
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0634126663208,
                "transform": {
                    "location": {
                        "x": 644.926025390625,
                        "y": 4297.15283203125,
                        "z": 369.9789123535156
                    },
                    "rotation": {
                        "roll": 0.0001617037778487429,
                        "pitch": -0.2966897487640381,
                        "yaw": -0.3063964545726776
                    }
                },
                "velocity": {
                    "x": 8.063192367553711,
                    "y": -0.043260205537080765,
                    "z": -0.0411769337952137
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03091049194336,
                "transform": {
                    "location": {
                        "x": 647.1368408203125,
                        "y": 4293.89013671875,
                        "z": 369.9737548828125
                    },
                    "rotation": {
                        "roll": 0.0007553929463028908,
                        "pitch": -0.29599305987358093,
                        "yaw": -0.29864501953125
                    }
                },
                "velocity": {
                    "x": 8.030684471130371,
                    "y": -0.04394058138132095,
                    "z": -0.04129166528582573
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053400993347168,
                "transform": {
                    "location": {
                        "x": 688.312744140625,
                        "y": 4296.8994140625,
                        "z": 369.7523498535156
                    },
                    "rotation": {
                        "roll": 0.0003177612670697272,
                        "pitch": -0.3249872028827667,
                        "yaw": -0.321014404296875
                    }
                },
                "velocity": {
                    "x": 8.053128242492676,
                    "y": -0.047672443091869354,
                    "z": -0.04593370854854584
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043484687805176,
                "transform": {
                    "location": {
                        "x": 688.6078491210938,
                        "y": 4293.64794921875,
                        "z": 369.75225830078125
                    },
                    "rotation": {
                        "roll": 0.0002651293470989913,
                        "pitch": -0.326325923204422,
                        "yaw": -0.3406371772289276
                    }
                },
                "velocity": {
                    "x": 8.043212890625,
                    "y": -0.0477973036468029,
                    "z": -0.04566822946071625
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052425384521484,
                "transform": {
                    "location": {
                        "x": 730.255615234375,
                        "y": 4296.6513671875,
                        "z": 369.5055847167969
                    },
                    "rotation": {
                        "roll": 0.0012213432928547263,
                        "pitch": -0.3326984941959381,
                        "yaw": -0.402801513671875
                    }
                },
                "velocity": {
                    "x": 8.052010536193848,
                    "y": -0.06735925376415253,
                    "z": -0.0462462492287159
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.08326530456543,
                "transform": {
                    "location": {
                        "x": 729.6266479492188,
                        "y": 4293.40673828125,
                        "z": 369.51849365234375
                    },
                    "rotation": {
                        "roll": 0.005191601347178221,
                        "pitch": -0.34155726432800293,
                        "yaw": -0.3726806044578552
                    }
                },
                "velocity": {
                    "x": 8.082868576049805,
                    "y": -0.06368675827980042,
                    "z": -0.04849357530474663
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.591227531433105,
                "transform": {
                    "location": {
                        "x": 707.7445068359375,
                        "y": 4286.833984375,
                        "z": 369.63629150390625
                    },
                    "rotation": {
                        "roll": 0.00038238323759287596,
                        "pitch": 0.310978502035141,
                        "yaw": 179.6739959716797
                    }
                },
                "velocity": {
                    "x": -9.590895652770996,
                    "y": 0.0568525493144989,
                    "z": 0.055863961577415466
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.063901901245117,
                "transform": {
                    "location": {
                        "x": 684.4408569335938,
                        "y": 4286.970703125,
                        "z": 369.7816467285156
                    },
                    "rotation": {
                        "roll": 0.0002533697697799653,
                        "pitch": 0.007520037703216076,
                        "yaw": 179.66217041015625
                    }
                },
                "velocity": {
                    "x": -6.063699245452881,
                    "y": 0.03574267774820328,
                    "z": 0.03438834100961685
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5634934902191162,
                "transform": {
                    "location": {
                        "x": 621.0736083984375,
                        "y": 4287.40673828125,
                        "z": 370.10870361328125
                    },
                    "rotation": {
                        "roll": 0.0051455190405249596,
                        "pitch": -0.3399658203125,
                        "yaw": -179.73777770996094
                    }
                },
                "velocity": {
                    "x": -0.5634881854057312,
                    "y": -0.0006623140070587397,
                    "z": 0.002341260900720954
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005525227170437574,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.2725381851196289,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 2.3709981178399175e-06,
                    "y": 1.9294115190859884e-05,
                    "z": -0.000552180630620569
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.053787231445312,
                "transform": {
                    "location": {
                        "x": 699.6986083984375,
                        "y": 4290.130859375,
                        "z": 369.6927795410156
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.19157996773719788,
                        "yaw": 179.6945343017578
                    }
                },
                "velocity": {
                    "x": -9.053483009338379,
                    "y": 0.05332683026790619,
                    "z": 0.05156586691737175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.071511268615723,
                "transform": {
                    "location": {
                        "x": 679.61865234375,
                        "y": 4290.25,
                        "z": 369.8056640625
                    },
                    "rotation": {
                        "roll": -0.00018310551240574569,
                        "pitch": 0.31757646799087524,
                        "yaw": 179.66357421875
                    }
                },
                "velocity": {
                    "x": -9.071205139160156,
                    "y": 0.05324383080005646,
                    "z": 0.05202078819274902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011507034301758,
                "transform": {
                    "location": {
                        "x": 660.4012451171875,
                        "y": 4290.361328125,
                        "z": 369.9414367675781
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": 0.3111833930015564,
                        "yaw": 179.64471435546875
                    }
                },
                "velocity": {
                    "x": -8.01123332977295,
                    "y": 0.04961138591170311,
                    "z": 0.04377290606498718
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021456718444824,
                "transform": {
                    "location": {
                        "x": 641.8837280273438,
                        "y": 4290.470703125,
                        "z": 369.9984436035156
                    },
                    "rotation": {
                        "roll": 0.0009772891644388437,
                        "pitch": 0.2993398606777191,
                        "yaw": 179.6461181640625
                    }
                },
                "velocity": {
                    "x": -8.021199226379395,
                    "y": 0.0494738407433033,
                    "z": 0.04096269607543945
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2715090811252594,
        "expert_target_speed": 10.0,
        "target_point": [
            36.27256489755965,
            -0.8492827334493955
        ],
        "target_point_next": [
            87.26510903821419,
            -1.7198127116730522
        ]
    },
    "200": {
        "acceleration": [
            -0.15435218811035156,
            0.011478066444396973,
            0.0050258636474609375
        ],
        "angular_velocity": [
            0.0165806133300066,
            1.428524374961853,
            0.2444014996290207
        ],
        "forward_vector": [
            -0.999944806098938,
            -0.010307497344911098,
            -0.0020506365690380335
        ],
        "right_vector": [
            0.010307694785296917,
            -0.9999468922615051,
            -8.566796168452129e-05
        ],
        "location": [
            665.8262329101562,
            4286.9365234375,
            369.8747863769531
        ],
        "rotation": [
            0.004908422939479351,
            -0.1174929067492485,
            -179.40940856933594
        ],
        "velocity": [
            -3.7957823276519775,
            -0.03425537794828415,
            0.02139592170715332
        ],
        "speed": 3.795936894869756,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 23.345020294189453,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04592227935791,
                "transform": {
                    "location": {
                        "x": 606.6426391601562,
                        "y": 4297.33154296875,
                        "z": 370.18670654296875
                    },
                    "rotation": {
                        "roll": 0.0006650431896559894,
                        "pitch": -0.2705642580986023,
                        "yaw": 0.2608783543109894
                    }
                },
                "velocity": {
                    "x": 8.045811653137207,
                    "y": 0.02240782044827938,
                    "z": -0.03574107214808464
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.639349937438965,
                "transform": {
                    "location": {
                        "x": 608.5264892578125,
                        "y": 4294.078125,
                        "z": 370.16619873046875
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": -0.27883562445640564,
                        "yaw": 0.19346323609352112
                    }
                },
                "velocity": {
                    "x": 7.639256000518799,
                    "y": 0.010118088684976101,
                    "z": -0.03649229556322098
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.060099601745605,
                "transform": {
                    "location": {
                        "x": 646.9417724609375,
                        "y": 4297.1416015625,
                        "z": 369.9683532714844
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": -0.3037111759185791,
                        "yaw": -0.3101806342601776
                    }
                },
                "velocity": {
                    "x": 8.059863090515137,
                    "y": -0.045231614261865616,
                    "z": -0.04211380332708359
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.971834659576416,
                "transform": {
                    "location": {
                        "x": 649.1273193359375,
                        "y": 4293.87841796875,
                        "z": 369.96337890625
                    },
                    "rotation": {
                        "roll": 0.0003749901952687651,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.3302612006664276
                    }
                },
                "velocity": {
                    "x": 7.971601486206055,
                    "y": -0.045174553990364075,
                    "z": -0.040909141302108765
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053149223327637,
                "transform": {
                    "location": {
                        "x": 690.325927734375,
                        "y": 4296.88720703125,
                        "z": 369.7408752441406
                    },
                    "rotation": {
                        "roll": 0.0012477950658649206,
                        "pitch": -0.32674941420555115,
                        "yaw": -0.3559570610523224
                    }
                },
                "velocity": {
                    "x": 8.05288028717041,
                    "y": -0.04764922335743904,
                    "z": -0.04542093724012375
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044841766357422,
                "transform": {
                    "location": {
                        "x": 690.619384765625,
                        "y": 4293.63623046875,
                        "z": 369.7408142089844
                    },
                    "rotation": {
                        "roll": 0.0009984951466321945,
                        "pitch": -0.3268723487854004,
                        "yaw": -0.344329833984375
                    }
                },
                "velocity": {
                    "x": 8.044568061828613,
                    "y": -0.04829025641083717,
                    "z": -0.04546182602643967
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084673881530762,
                "transform": {
                    "location": {
                        "x": 732.2727661132812,
                        "y": 4296.63330078125,
                        "z": 369.4938659667969
                    },
                    "rotation": {
                        "roll": 0.000392572779674083,
                        "pitch": -0.33245259523391724,
                        "yaw": -0.53717041015625
                    }
                },
                "velocity": {
                    "x": 8.084129333496094,
                    "y": -0.08212394267320633,
                    "z": -0.04535003378987312
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.065710067749023,
                "transform": {
                    "location": {
                        "x": 731.6449584960938,
                        "y": 4293.38916015625,
                        "z": 369.5067138671875
                    },
                    "rotation": {
                        "roll": 0.01515292190015316,
                        "pitch": -0.33394843339920044,
                        "yaw": -0.5102234482765198
                    }
                },
                "velocity": {
                    "x": 8.065173149108887,
                    "y": -0.07945152372121811,
                    "z": -0.04849734157323837
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.423728942871094,
                "transform": {
                    "location": {
                        "x": 705.5123291015625,
                        "y": 4286.8466796875,
                        "z": 369.6493225097656
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.30570557713508606,
                        "yaw": 179.64797973632812
                    }
                },
                "velocity": {
                    "x": -8.423445701599121,
                    "y": 0.04923068359494209,
                    "z": 0.04851020872592926
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.866334080696106,
                "transform": {
                    "location": {
                        "x": 683.6712646484375,
                        "y": 4286.97509765625,
                        "z": 369.7923889160156
                    },
                    "rotation": {
                        "roll": 0.000538394961040467,
                        "pitch": -0.8318760395050049,
                        "yaw": 179.66162109375
                    }
                },
                "velocity": {
                    "x": -1.8662753105163574,
                    "y": 0.011024191044270992,
                    "z": 0.009879331104457378
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4045813083648682,
                "transform": {
                    "location": {
                        "x": 620.8079223632812,
                        "y": 4287.40673828125,
                        "z": 370.10760498046875
                    },
                    "rotation": {
                        "roll": 0.00846803281456232,
                        "pitch": 0.29868414998054504,
                        "yaw": -179.7442169189453
                    }
                },
                "velocity": {
                    "x": -1.4045660495758057,
                    "y": -0.0011203307658433914,
                    "z": 0.006455163937062025
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00045738861081190407,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.2725381851196289,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 9.975284228858072e-06,
                    "y": 1.9040240658796392e-05,
                    "z": -0.00045688325189985335
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.72724437713623,
                "transform": {
                    "location": {
                        "x": 697.3375854492188,
                        "y": 4290.14404296875,
                        "z": 369.7059020996094
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.25373467803001404,
                        "yaw": 179.67311096191406
                    }
                },
                "velocity": {
                    "x": -9.726930618286133,
                    "y": 0.055491331964731216,
                    "z": 0.054908692836761475
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.9329609870910645,
                "transform": {
                    "location": {
                        "x": 677.488525390625,
                        "y": 4290.26220703125,
                        "z": 369.8168640136719
                    },
                    "rotation": {
                        "roll": -6.103512714616954e-05,
                        "pitch": 0.3964036703109741,
                        "yaw": 179.6630859375
                    }
                },
                "velocity": {
                    "x": -7.932706356048584,
                    "y": 0.04661848023533821,
                    "z": 0.043244387954473495
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04211711883545,
                "transform": {
                    "location": {
                        "x": 658.3943481445312,
                        "y": 4290.373046875,
                        "z": 369.95220947265625
                    },
                    "rotation": {
                        "roll": -0.001495361328125,
                        "pitch": 0.3100973963737488,
                        "yaw": 179.64468383789062
                    }
                },
                "velocity": {
                    "x": -8.04184341430664,
                    "y": 0.049980487674474716,
                    "z": 0.04362956061959267
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990131378173828,
                "transform": {
                    "location": {
                        "x": 639.8826293945312,
                        "y": 4290.482421875,
                        "z": 370.0089111328125
                    },
                    "rotation": {
                        "roll": 0.00035284896148368716,
                        "pitch": 0.2995925843715668,
                        "yaw": 179.64610290527344
                    }
                },
                "velocity": {
                    "x": -7.989876747131348,
                    "y": 0.049327220767736435,
                    "z": 0.040462855249643326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2785714566707611,
        "expert_target_speed": 10.0,
        "target_point": [
            35.28165765247667,
            -0.8173265595851793
        ],
        "target_point_next": [
            86.27492743214624,
            -1.6442591792249157
        ]
    },
    "205": {
        "acceleration": [
            -3.1711196899414062,
            -0.011150538921356201,
            0.014386922121047974
        ],
        "angular_velocity": [
            -0.06887984275817871,
            1.5200453996658325,
            -0.23129992187023163
        ],
        "forward_vector": [
            -0.9999417662620544,
            -0.00937425997108221,
            0.005346749443560839
        ],
        "right_vector": [
            0.009373629465699196,
            -0.9999560713768005,
            -0.00014294667926151305
        ],
        "location": [
            664.8065185546875,
            4286.92822265625,
            369.8789367675781
        ],
        "rotation": [
            0.008190358988940716,
            0.30634763836860657,
            -179.46287536621094
        ],
        "velocity": [
            -4.406300067901611,
            -0.03583098202943802,
            0.022859524935483932
        ],
        "speed": 4.406445749996582,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 22.325576782226562,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.269952774047852,
                "transform": {
                    "location": {
                        "x": 608.6831665039062,
                        "y": 4297.33544921875,
                        "z": 370.1755065917969
                    },
                    "rotation": {
                        "roll": 0.016586540266871452,
                        "pitch": -0.27081015706062317,
                        "yaw": 0.0870029553771019
                    }
                },
                "velocity": {
                    "x": 8.269813537597656,
                    "y": 0.0006554796127602458,
                    "z": -0.04798232764005661
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.561726093292236,
                "transform": {
                    "location": {
                        "x": 610.38818359375,
                        "y": 4294.08056640625,
                        "z": 370.15728759765625
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.27630162239074707,
                        "yaw": 0.0384623222053051
                    }
                },
                "velocity": {
                    "x": 7.561635494232178,
                    "y": -0.0013909032568335533,
                    "z": -0.03695493936538696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0230073928833,
                "transform": {
                    "location": {
                        "x": 648.9501953125,
                        "y": 4297.1298828125,
                        "z": 369.9576721191406
                    },
                    "rotation": {
                        "roll": 0.0012475650291889906,
                        "pitch": -0.3054187297821045,
                        "yaw": -0.31829825043678284
                    }
                },
                "velocity": {
                    "x": 8.02276611328125,
                    "y": -0.04589099809527397,
                    "z": -0.04204404354095459
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.085366249084473,
                "transform": {
                    "location": {
                        "x": 651.139404296875,
                        "y": 4293.86669921875,
                        "z": 369.9524841308594
                    },
                    "rotation": {
                        "roll": 0.00012165213411208242,
                        "pitch": -0.28240782022476196,
                        "yaw": -0.3045958876609802
                    }
                },
                "velocity": {
                    "x": 8.085137367248535,
                    "y": -0.044886939227581024,
                    "z": -0.04107986018061638
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052192687988281,
                "transform": {
                    "location": {
                        "x": 692.339111328125,
                        "y": 4296.8759765625,
                        "z": 369.72943115234375
                    },
                    "rotation": {
                        "roll": 0.0012555288849398494,
                        "pitch": -0.328976035118103,
                        "yaw": -0.32147216796875
                    }
                },
                "velocity": {
                    "x": 8.05192756652832,
                    "y": -0.04739771783351898,
                    "z": -0.04506852105259895
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04226303100586,
                "transform": {
                    "location": {
                        "x": 692.6300048828125,
                        "y": 4293.62451171875,
                        "z": 369.7293701171875
                    },
                    "rotation": {
                        "roll": -0.0003051755775231868,
                        "pitch": -0.3305948078632355,
                        "yaw": -0.344818115234375
                    }
                },
                "velocity": {
                    "x": 8.041991233825684,
                    "y": -0.04847249761223793,
                    "z": -0.04503406584262848
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05134105682373,
                "transform": {
                    "location": {
                        "x": 734.2894897460938,
                        "y": 4296.6123046875,
                        "z": 369.482177734375
                    },
                    "rotation": {
                        "roll": 0.00029793669818900526,
                        "pitch": -0.32991862297058105,
                        "yaw": -0.6125181913375854
                    }
                },
                "velocity": {
                    "x": 8.050735473632812,
                    "y": -0.08770672231912613,
                    "z": -0.04541844129562378
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.096752166748047,
                "transform": {
                    "location": {
                        "x": 733.6657104492188,
                        "y": 4293.369140625,
                        "z": 369.4949951171875
                    },
                    "rotation": {
                        "roll": 0.005438390653580427,
                        "pitch": -0.332186222076416,
                        "yaw": -0.6022949814796448
                    }
                },
                "velocity": {
                    "x": 8.096138954162598,
                    "y": -0.08709826320409775,
                    "z": -0.04848792031407356
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.117192268371582,
                "transform": {
                    "location": {
                        "x": 703.5610961914062,
                        "y": 4286.85888671875,
                        "z": 369.66064453125
                    },
                    "rotation": {
                        "roll": 0.00135880580637604,
                        "pitch": 0.3045991063117981,
                        "yaw": 179.67974853515625
                    }
                },
                "velocity": {
                    "x": -7.116950511932373,
                    "y": 0.041579026728868484,
                    "z": 0.04139517620205879
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1266069412231445,
                "transform": {
                    "location": {
                        "x": 683.1697387695312,
                        "y": 4286.9775390625,
                        "z": 369.7867431640625
                    },
                    "rotation": {
                        "roll": 9.234713070327416e-05,
                        "pitch": 0.21671506762504578,
                        "yaw": 179.66180419921875
                    }
                },
                "velocity": {
                    "x": -2.1265323162078857,
                    "y": 0.01259387657046318,
                    "z": 0.012603082694113255
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.265202045440674,
                "transform": {
                    "location": {
                        "x": 620.3391723632812,
                        "y": 4287.40673828125,
                        "z": 370.10894775390625
                    },
                    "rotation": {
                        "roll": 0.007134735118597746,
                        "pitch": 0.5480748414993286,
                        "yaw": -179.79925537109375
                    }
                },
                "velocity": {
                    "x": -2.2651731967926025,
                    "y": -0.0018282888922840357,
                    "z": 0.011294927448034286
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0007137979264371097,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.2725381851196289,
                        "yaw": 179.6614227294922
                    }
                },
                "velocity": {
                    "x": 4.445798822416691e-06,
                    "y": 3.7825611798325554e-05,
                    "z": -0.0007127811550162733
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.935904502868652,
                "transform": {
                    "location": {
                        "x": 694.8412475585938,
                        "y": 4290.1591796875,
                        "z": 369.7198486328125
                    },
                    "rotation": {
                        "roll": -0.0009765623253770173,
                        "pitch": 0.289483904838562,
                        "yaw": 179.65696716308594
                    }
                },
                "velocity": {
                    "x": -9.935564994812012,
                    "y": 0.05980608984827995,
                    "z": 0.05629409849643707
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.217135429382324,
                "transform": {
                    "location": {
                        "x": 675.8041381835938,
                        "y": 4290.2724609375,
                        "z": 369.8256530761719
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": 0.46164563298225403,
                        "yaw": 179.66737365722656
                    }
                },
                "velocity": {
                    "x": -6.216936111450195,
                    "y": 0.03579404950141907,
                    "z": 0.034589871764183044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006604194641113,
                "transform": {
                    "location": {
                        "x": 656.3885498046875,
                        "y": 4290.384765625,
                        "z": 369.9630126953125
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": 0.3070579767227173,
                        "yaw": 179.6447296142578
                    }
                },
                "velocity": {
                    "x": -8.006338119506836,
                    "y": 0.04963797330856323,
                    "z": 0.04232519119977951
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021906852722168,
                "transform": {
                    "location": {
                        "x": 637.8812255859375,
                        "y": 4290.494140625,
                        "z": 370.0192565917969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.29836997389793396,
                        "yaw": 179.64381408691406
                    }
                },
                "velocity": {
                    "x": -8.021648406982422,
                    "y": 0.049882110208272934,
                    "z": 0.0407252199947834
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2816494405269623,
        "expert_target_speed": 10.0,
        "target_point": [
            34.26265763221811,
            -0.7831435240523292
        ],
        "target_point_next": [
            85.2566768781093,
            -1.5624903847421527
        ]
    },
    "210": {
        "acceleration": [
            -1.3653182983398438,
            0.04492994397878647,
            -0.024902522563934326
        ],
        "angular_velocity": [
            -0.016448847949504852,
            0.0792325809597969,
            -0.6557217240333557
        ],
        "forward_vector": [
            -0.9999250769615173,
            -0.007824145257472992,
            0.009413817897439003
        ],
        "right_vector": [
            0.007821457460522652,
            -0.9999693036079407,
            -0.0003222161321900785
        ],
        "location": [
            663.6007690429688,
            4286.9189453125,
            369.8847961425781
        ],
        "rotation": [
            0.018462441861629486,
            0.5393800139427185,
            -179.5516815185547
        ],
        "velocity": [
            -5.1032395362854,
            -0.028025368228554726,
            0.02990340255200863
        ],
        "speed": 5.103316488909028,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 21.12019920349121,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.049798965454102,
                "transform": {
                    "location": {
                        "x": 610.721923828125,
                        "y": 4297.33544921875,
                        "z": 370.1647644042969
                    },
                    "rotation": {
                        "roll": 0.006798102054744959,
                        "pitch": -0.27572789788246155,
                        "yaw": -0.044891357421875
                    }
                },
                "velocity": {
                    "x": 8.049697875976562,
                    "y": -0.009009603410959244,
                    "z": -0.03925563767552376
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.429631233215332,
                "transform": {
                    "location": {
                        "x": 612.4087524414062,
                        "y": 4294.0791015625,
                        "z": 370.1474914550781
                    },
                    "rotation": {
                        "roll": 4.815849388251081e-05,
                        "pitch": -0.25809234380722046,
                        "yaw": -0.061614979058504105
                    }
                },
                "velocity": {
                    "x": 8.42951488494873,
                    "y": -0.0189179889857769,
                    "z": -0.040061887353658676
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.083318710327148,
                "transform": {
                    "location": {
                        "x": 650.9652099609375,
                        "y": 4297.1181640625,
                        "z": 369.9469909667969
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.303342342376709,
                        "yaw": -0.3206787109375
                    }
                },
                "velocity": {
                    "x": 8.083084106445312,
                    "y": -0.04521419480443001,
                    "z": -0.04169139266014099
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.005805015563965,
                "transform": {
                    "location": {
                        "x": 653.150634765625,
                        "y": 4293.85498046875,
                        "z": 369.94195556640625
                    },
                    "rotation": {
                        "roll": -0.0008544921292923391,
                        "pitch": -0.31853950023651123,
                        "yaw": -0.3348693549633026
                    }
                },
                "velocity": {
                    "x": 8.005571365356445,
                    "y": -0.04486718028783798,
                    "z": -0.04158852621912956
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053166389465332,
                "transform": {
                    "location": {
                        "x": 694.3523559570312,
                        "y": 4296.86376953125,
                        "z": 369.71795654296875
                    },
                    "rotation": {
                        "roll": 0.0018648449331521988,
                        "pitch": -0.32903751730918884,
                        "yaw": -0.3460998237133026
                    }
                },
                "velocity": {
                    "x": 8.052895545959473,
                    "y": -0.04746551066637039,
                    "z": -0.04598259925842285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043038368225098,
                "transform": {
                    "location": {
                        "x": 694.6405029296875,
                        "y": 4293.61279296875,
                        "z": 369.7178955078125
                    },
                    "rotation": {
                        "roll": -0.0005187985952943563,
                        "pitch": -0.329863965511322,
                        "yaw": -0.3446654975414276
                    }
                },
                "velocity": {
                    "x": 8.042764663696289,
                    "y": -0.04835066199302673,
                    "z": -0.0453655868768692
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 736.3716430664062,
                        "y": 4296.54638671875,
                        "z": 369.4724426269531
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 735.722900390625,
                        "y": 4293.31982421875,
                        "z": 369.48193359375
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.720723628997803,
                "transform": {
                    "location": {
                        "x": 701.8701171875,
                        "y": 4286.8681640625,
                        "z": 369.67034912109375
                    },
                    "rotation": {
                        "roll": 0.0010825310600921512,
                        "pitch": 0.31748083233833313,
                        "yaw": 179.66847229003906
                    }
                },
                "velocity": {
                    "x": -6.720503807067871,
                    "y": 0.03856346383690834,
                    "z": 0.03830398619174957
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.7793638706207275,
                "transform": {
                    "location": {
                        "x": 682.556640625,
                        "y": 4286.9814453125,
                        "z": 369.78729248046875
                    },
                    "rotation": {
                        "roll": 0.000811031146440655,
                        "pitch": 0.6035359501838684,
                        "yaw": 179.65528869628906
                    }
                },
                "velocity": {
                    "x": -2.7792680263519287,
                    "y": 0.017441915348172188,
                    "z": 0.015092181973159313
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.01827850192785263,
                "transform": {
                    "location": {
                        "x": 619.9251708984375,
                        "y": 4287.40673828125,
                        "z": 370.1133117675781
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": -0.09293154627084732,
                        "yaw": -179.80364990234375
                    }
                },
                "velocity": {
                    "x": -0.01827256754040718,
                    "y": 6.602995563298464e-05,
                    "z": 0.00046102143824100494
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.00011280495527898893,
                "transform": {
                    "location": {
                        "x": 607.2408447265625,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0008850094163790345,
                        "pitch": 0.27275675535202026,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 6.973668860155158e-06,
                    "y": 1.2928850082971621e-05,
                    "z": 0.00011184440518263727
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.810063362121582,
                "transform": {
                    "location": {
                        "x": 692.5036010742188,
                        "y": 4290.17333984375,
                        "z": 369.7322082519531
                    },
                    "rotation": {
                        "roll": -0.00015258797793649137,
                        "pitch": 0.4195443391799927,
                        "yaw": 179.65504455566406
                    }
                },
                "velocity": {
                    "x": -8.809757232666016,
                    "y": 0.05299769341945648,
                    "z": 0.05079685151576996
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.4370317459106445,
                "transform": {
                    "location": {
                        "x": 674.2412109375,
                        "y": 4290.2822265625,
                        "z": 369.83544921875
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.3197484612464905,
                        "yaw": 179.63096618652344
                    }
                },
                "velocity": {
                    "x": -6.436824798583984,
                    "y": 0.038852233439683914,
                    "z": 0.03400310501456261
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04440689086914,
                "transform": {
                    "location": {
                        "x": 654.3819580078125,
                        "y": 4290.39697265625,
                        "z": 369.97369384765625
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": 0.30781611800193787,
                        "yaw": 179.64566040039062
                    }
                },
                "velocity": {
                    "x": -8.044140815734863,
                    "y": 0.049878016114234924,
                    "z": 0.04230678454041481
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.989643096923828,
                "transform": {
                    "location": {
                        "x": 635.880126953125,
                        "y": 4290.505859375,
                        "z": 370.02960205078125
                    },
                    "rotation": {
                        "roll": -6.103507257648744e-05,
                        "pitch": 0.2910958230495453,
                        "yaw": 179.64285278320312
                    }
                },
                "velocity": {
                    "x": -7.989383220672607,
                    "y": 0.04972732439637184,
                    "z": 0.04098495468497276
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3007001280784607,
        "expert_target_speed": 10.0,
        "target_point": [
            33.058045298368064,
            -0.7298715645930104
        ],
        "target_point_next": [
            84.0532114132365,
            -1.4301667141986547
        ]
    },
    "215": {
        "acceleration": [
            3.7145614624023438,
            0.12889353930950165,
            -0.004238709807395935
        ],
        "angular_velocity": [
            0.07946684211492538,
            -1.3645390272140503,
            -0.6740859746932983
        ],
        "forward_vector": [
            -0.9999755024909973,
            -0.00547559279948473,
            0.004359588958323002
        ],
        "right_vector": [
            0.00547385448589921,
            -0.9999849200248718,
            -0.0004104379622731358
        ],
        "location": [
            662.4099731445312,
            4286.91357421875,
            369.8919982910156
        ],
        "rotation": [
            0.023516586050391197,
            0.249786838889122,
            -179.68626403808594
        ],
        "velocity": [
            -4.385182857513428,
            -0.007679320406168699,
            0.02437141351401806
        ],
        "speed": 4.385189581510876,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 19.929954528808594,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.275214195251465,
                "transform": {
                    "location": {
                        "x": 612.7635498046875,
                        "y": 4297.33154296875,
                        "z": 370.15521240234375
                    },
                    "rotation": {
                        "roll": 0.00938367284834385,
                        "pitch": -0.27450528740882874,
                        "yaw": -0.1351623386144638
                    }
                },
                "velocity": {
                    "x": 8.27508544921875,
                    "y": -0.025776030495762825,
                    "z": -0.0382317379117012
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.982545375823975,
                "transform": {
                    "location": {
                        "x": 614.4661254882812,
                        "y": 4294.07421875,
                        "z": 370.1378173828125
                    },
                    "rotation": {
                        "roll": 5.032952321926132e-05,
                        "pitch": -0.28039291501045227,
                        "yaw": -0.1782836765050888
                    }
                },
                "velocity": {
                    "x": 7.982391834259033,
                    "y": -0.028999662026762962,
                    "z": -0.04016871377825737
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.01741886138916,
                "transform": {
                    "location": {
                        "x": 652.976806640625,
                        "y": 4297.1064453125,
                        "z": 369.936279296875
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": -0.30590367317199707,
                        "yaw": -0.3205566108226776
                    }
                },
                "velocity": {
                    "x": 8.017187118530273,
                    "y": -0.044912293553352356,
                    "z": -0.04120311141014099
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.027339935302734,
                "transform": {
                    "location": {
                        "x": 655.152099609375,
                        "y": 4293.84326171875,
                        "z": 369.9312744140625
                    },
                    "rotation": {
                        "roll": -0.0007934568566270173,
                        "pitch": -0.3117298185825348,
                        "yaw": -0.3086547255516052
                    }
                },
                "velocity": {
                    "x": 8.027108192443848,
                    "y": -0.04407188296318054,
                    "z": -0.04208627715706825
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052680969238281,
                "transform": {
                    "location": {
                        "x": 696.365478515625,
                        "y": 4296.8525390625,
                        "z": 369.7063903808594
                    },
                    "rotation": {
                        "roll": 0.00034618432982824743,
                        "pitch": -0.33016449213027954,
                        "yaw": -0.322296142578125
                    }
                },
                "velocity": {
                    "x": 8.052411079406738,
                    "y": -0.04787059128284454,
                    "z": -0.045329101383686066
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044620513916016,
                "transform": {
                    "location": {
                        "x": 696.6515502929688,
                        "y": 4293.60107421875,
                        "z": 369.70635986328125
                    },
                    "rotation": {
                        "roll": -0.0005187986535020173,
                        "pitch": -0.3306904137134552,
                        "yaw": -0.3446044623851776
                    }
                },
                "velocity": {
                    "x": 8.04434585571289,
                    "y": -0.048400044441223145,
                    "z": -0.045559123158454895
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 738.4537963867188,
                        "y": 4296.48046875,
                        "z": 369.4627380371094
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 737.8050537109375,
                        "y": 4293.25146484375,
                        "z": 369.4681091308594
                    },
                    "rotation": {
                        "roll": 2.0844434511779752e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.0694578886032104
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.733444690704346,
                "transform": {
                    "location": {
                        "x": 700.0784912109375,
                        "y": 4286.87841796875,
                        "z": 369.6803894042969
                    },
                    "rotation": {
                        "roll": 0.00038218003464862704,
                        "pitch": 0.34959638118743896,
                        "yaw": 179.673095703125
                    }
                },
                "velocity": {
                    "x": -7.733179092407227,
                    "y": 0.04565729200839996,
                    "z": 0.044995155185461044
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.619020938873291,
                "transform": {
                    "location": {
                        "x": 681.7593383789062,
                        "y": 4286.986328125,
                        "z": 369.7922058105469
                    },
                    "rotation": {
                        "roll": 0.0009618174517527223,
                        "pitch": 0.5403771996498108,
                        "yaw": 179.6543731689453
                    }
                },
                "velocity": {
                    "x": -3.618903398513794,
                    "y": 0.021831559017300606,
                    "z": 0.019320029765367508
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8345113396644592,
                "transform": {
                    "location": {
                        "x": 619.8248291015625,
                        "y": 4287.40625,
                        "z": 370.1130065917969
                    },
                    "rotation": {
                        "roll": 0.0011585296597331762,
                        "pitch": 0.14561279118061066,
                        "yaw": -179.85458374023438
                    }
                },
                "velocity": {
                    "x": -0.8345030546188354,
                    "y": -0.00022220345272216946,
                    "z": 0.0037172602023929358
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.916988397482783e-05,
                "transform": {
                    "location": {
                        "x": 607.2408447265625,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0008850094163790345,
                        "pitch": 0.27275675535202026,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 1.5132426597119775e-05,
                    "y": -4.198889291728847e-05,
                    "z": 6.538970046676695e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.52239465713501,
                "transform": {
                    "location": {
                        "x": 690.5840454101562,
                        "y": 4290.18505859375,
                        "z": 369.7422180175781
                    },
                    "rotation": {
                        "roll": 0.00020440015941858292,
                        "pitch": 0.535056471824646,
                        "yaw": 179.64334106445312
                    }
                },
                "velocity": {
                    "x": -6.522178649902344,
                    "y": 0.03817250579595566,
                    "z": 0.036859799176454544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.402609825134277,
                "transform": {
                    "location": {
                        "x": 672.5562133789062,
                        "y": 4290.29248046875,
                        "z": 369.84521484375
                    },
                    "rotation": {
                        "roll": 0.0013674782821908593,
                        "pitch": 0.24987562000751495,
                        "yaw": 179.6891326904297
                    }
                },
                "velocity": {
                    "x": -7.402368545532227,
                    "y": 0.042494356632232666,
                    "z": 0.04200632870197296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006109237670898,
                "transform": {
                    "location": {
                        "x": 652.3759765625,
                        "y": 4290.40869140625,
                        "z": 369.984375
                    },
                    "rotation": {
                        "roll": -0.0011291505070403218,
                        "pitch": 0.30692818760871887,
                        "yaw": 179.641845703125
                    }
                },
                "velocity": {
                    "x": -8.005847930908203,
                    "y": 0.050097543746232986,
                    "z": 0.04093184322118759
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021712303161621,
                "transform": {
                    "location": {
                        "x": 633.8787231445312,
                        "y": 4290.517578125,
                        "z": 370.039794921875
                    },
                    "rotation": {
                        "roll": 0.00045252940617501736,
                        "pitch": 0.29154661297798157,
                        "yaw": 179.6438751220703
                    }
                },
                "velocity": {
                    "x": -8.021453857421875,
                    "y": 0.04964057356119156,
                    "z": 0.04102107137441635
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.30477458238601685,
        "expert_target_speed": 10.0,
        "target_point": [
            31.868861038920123,
            -0.6510703887323046
        ],
        "target_point_next": [
            82.86553139691465,
            -1.231581179010846
        ]
    },
    "220": {
        "acceleration": [
            3.288898468017578,
            0.042930252850055695,
            -0.012890249490737915
        ],
        "angular_velocity": [
            0.036608777940273285,
            -0.42635029554367065,
            -0.16692757606506348
        ],
        "forward_vector": [
            -0.9999970197677612,
            -0.002396493684500456,
            0.0004677771939896047
        ],
        "right_vector": [
            0.0023962981067597866,
            -0.999997079372406,
            -0.0004180928517598659
        ],
        "location": [
            661.4352416992188,
            4286.91357421875,
            369.8980712890625
        ],
        "rotation": [
            0.023954959586262703,
            0.026801660656929016,
            -179.86268615722656
        ],
        "velocity": [
            -3.4930641651153564,
            0.009563075378537178,
            0.01976148597896099
        ],
        "speed": 3.4930772556620813,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.955894470214844,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055632591247559,
                "transform": {
                    "location": {
                        "x": 614.803955078125,
                        "y": 4297.32470703125,
                        "z": 370.14556884765625
                    },
                    "rotation": {
                        "roll": 0.006212405860424042,
                        "pitch": -0.27863073348999023,
                        "yaw": -0.2197570502758026
                    }
                },
                "velocity": {
                    "x": 8.05548095703125,
                    "y": -0.032700326293706894,
                    "z": -0.03718233481049538
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.012199401855469,
                "transform": {
                    "location": {
                        "x": 616.447265625,
                        "y": 4294.06689453125,
                        "z": 370.1282043457031
                    },
                    "rotation": {
                        "roll": 0.0003892965614795685,
                        "pitch": -0.2770392894744873,
                        "yaw": -0.233367919921875
                    }
                },
                "velocity": {
                    "x": 8.012042999267578,
                    "y": -0.03384263440966606,
                    "z": -0.03694704920053482
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.079778671264648,
                "transform": {
                    "location": {
                        "x": 654.9892578125,
                        "y": 4297.0947265625,
                        "z": 369.9256286621094
                    },
                    "rotation": {
                        "roll": 0.0010782744502648711,
                        "pitch": -0.3055143356323242,
                        "yaw": -0.3224486708641052
                    }
                },
                "velocity": {
                    "x": 8.079530715942383,
                    "y": -0.04693489521741867,
                    "z": -0.04245360195636749
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.044937133789062,
                "transform": {
                    "location": {
                        "x": 657.1635131835938,
                        "y": 4293.83154296875,
                        "z": 369.9205017089844
                    },
                    "rotation": {
                        "roll": 0.001006006496027112,
                        "pitch": -0.3034038245677948,
                        "yaw": -0.33599853515625
                    }
                },
                "velocity": {
                    "x": 8.044692039489746,
                    "y": -0.04633386805653572,
                    "z": -0.042456116527318954
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052658081054688,
                "transform": {
                    "location": {
                        "x": 698.378662109375,
                        "y": 4296.84033203125,
                        "z": 369.69488525390625
                    },
                    "rotation": {
                        "roll": 0.0007372094551101327,
                        "pitch": -0.3324321210384369,
                        "yaw": -0.3568420112133026
                    }
                },
                "velocity": {
                    "x": 8.052376747131348,
                    "y": -0.04870603606104851,
                    "z": -0.04640824347734451
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041723251342773,
                "transform": {
                    "location": {
                        "x": 698.6619873046875,
                        "y": 4293.58935546875,
                        "z": 369.6947937011719
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": -0.332944393157959,
                        "yaw": -0.34820556640625
                    }
                },
                "velocity": {
                    "x": 8.041446685791016,
                    "y": -0.04890292510390282,
                    "z": -0.04538913443684578
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44809,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 740.5362548828125,
                        "y": 4296.4287109375,
                        "z": 369.4513244628906
                    },
                    "rotation": {
                        "roll": 8.337773804711901e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.6424254179000854
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44808,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 739.8875122070312,
                        "y": 4293.1923828125,
                        "z": 369.45501708984375
                    },
                    "rotation": {
                        "roll": 8.337773804711901e-10,
                        "pitch": -0.33316296339035034,
                        "yaw": -1.6424254179000854
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.16515064239502,
                "transform": {
                    "location": {
                        "x": 698.0636596679688,
                        "y": 4286.89013671875,
                        "z": 369.692138671875
                    },
                    "rotation": {
                        "roll": 0.0005701091140508652,
                        "pitch": 0.3426978886127472,
                        "yaw": 179.65042114257812
                    }
                },
                "velocity": {
                    "x": -8.164877891540527,
                    "y": 0.04870465770363808,
                    "z": 0.045513637363910675
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.732913970947266,
                "transform": {
                    "location": {
                        "x": 680.7147216796875,
                        "y": 4286.9921875,
                        "z": 369.7978820800781
                    },
                    "rotation": {
                        "roll": 0.0006746115977875888,
                        "pitch": 0.5540512800216675,
                        "yaw": 179.6543731689453
                    }
                },
                "velocity": {
                    "x": -4.732755184173584,
                    "y": 0.02855706214904785,
                    "z": 0.02616306208074093
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.673218846321106,
                "transform": {
                    "location": {
                        "x": 619.4954223632812,
                        "y": 4287.40625,
                        "z": 370.1133117675781
                    },
                    "rotation": {
                        "roll": 0.0027872330974787474,
                        "pitch": 0.4903460741043091,
                        "yaw": -179.84835815429688
                    }
                },
                "velocity": {
                    "x": -1.6732032299041748,
                    "y": -0.0011447258293628693,
                    "z": 0.007140140514820814
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.000587635615374893,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.2725381851196289,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 1.731932206894271e-05,
                    "y": 4.581631856126478e-06,
                    "z": -0.000587362505029887
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.330106258392334,
                "transform": {
                    "location": {
                        "x": 689.0042114257812,
                        "y": 4290.19482421875,
                        "z": 369.7524108886719
                    },
                    "rotation": {
                        "roll": 0.0010853440035134554,
                        "pitch": 0.37953993678092957,
                        "yaw": 179.68325805664062
                    }
                },
                "velocity": {
                    "x": -6.329897403717041,
                    "y": 0.035868700593709946,
                    "z": 0.03689376637339592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.913818359375,
                "transform": {
                    "location": {
                        "x": 670.4694213867188,
                        "y": 4290.30419921875,
                        "z": 369.857421875
                    },
                    "rotation": {
                        "roll": 0.0011561289429664612,
                        "pitch": 0.16528373956680298,
                        "yaw": 179.69573974609375
                    }
                },
                "velocity": {
                    "x": -8.913534164428711,
                    "y": 0.0514335110783577,
                    "z": 0.04926495626568794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044393539428711,
                "transform": {
                    "location": {
                        "x": 650.3695068359375,
                        "y": 4290.42138671875,
                        "z": 369.9950256347656
                    },
                    "rotation": {
                        "roll": -0.00012207022518850863,
                        "pitch": 0.3070921301841736,
                        "yaw": 179.6375274658203
                    }
                },
                "velocity": {
                    "x": -8.0441255569458,
                    "y": 0.05093377083539963,
                    "z": 0.04143203794956207
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990258693695068,
                "transform": {
                    "location": {
                        "x": 631.8775024414062,
                        "y": 4290.529296875,
                        "z": 370.0499572753906
                    },
                    "rotation": {
                        "roll": 0.0004571935860440135,
                        "pitch": 0.29193592071533203,
                        "yaw": 179.64337158203125
                    }
                },
                "velocity": {
                    "x": -7.989997863769531,
                    "y": 0.05000815913081169,
                    "z": 0.040774181485176086
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.31572282314300537,
        "expert_target_speed": 10.0,
        "target_point": [
            30.89598593876929,
            -0.5506091906892254
        ],
        "target_point_next": [
            81.89420193003605,
            -0.9741019151745476
        ]
    },
    "225": {
        "acceleration": [
            1.5425634384155273,
            0.07256094366312027,
            -0.013620182871818542
        ],
        "angular_velocity": [
            -0.04696321114897728,
            0.34805071353912354,
            -1.8303874731063843
        ],
        "forward_vector": [
            -0.9999987483024597,
            0.0015882564475759864,
            0.0001289844512939453
        ],
        "right_vector": [
            -0.001588319893926382,
            -0.9999986290931702,
            -0.000494058127515018
        ],
        "location": [
            660.6573486328125,
            4286.91796875,
            369.9023742675781
        ],
        "rotation": [
            0.028307447209954262,
            0.007390264421701431,
            179.90899658203125
        ],
        "velocity": [
            -2.8454766273498535,
            0.031194815412163734,
            0.016164902597665787
        ],
        "speed": 2.845647615799064,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 18.17877197265625,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.281303405761719,
                "transform": {
                    "location": {
                        "x": 616.8472290039062,
                        "y": 4297.31591796875,
                        "z": 370.1357727050781
                    },
                    "rotation": {
                        "roll": 0.0017378843622282147,
                        "pitch": -0.2743823528289795,
                        "yaw": -0.2588195502758026
                    }
                },
                "velocity": {
                    "x": 8.281122207641602,
                    "y": -0.03865644335746765,
                    "z": -0.03873557969927788
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.152689933776855,
                "transform": {
                    "location": {
                        "x": 618.480712890625,
                        "y": 4294.0576171875,
                        "z": 370.1183776855469
                    },
                    "rotation": {
                        "roll": 0.00039599707815796137,
                        "pitch": -0.27160927653312683,
                        "yaw": -0.2755127251148224
                    }
                },
                "velocity": {
                    "x": 8.152503967285156,
                    "y": -0.04067337512969971,
                    "z": -0.03715643286705017
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023167610168457,
                "transform": {
                    "location": {
                        "x": 657.0020751953125,
                        "y": 4297.0830078125,
                        "z": 369.9148864746094
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": -0.3069486916065216,
                        "yaw": -0.328857421875
                    }
                },
                "velocity": {
                    "x": 8.022926330566406,
                    "y": -0.04600635543465614,
                    "z": -0.04200185090303421
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.017848014831543,
                "transform": {
                    "location": {
                        "x": 659.1702270507812,
                        "y": 4293.81982421875,
                        "z": 369.9097900390625
                    },
                    "rotation": {
                        "roll": 0.001582115306518972,
                        "pitch": -0.31715983152389526,
                        "yaw": -0.3101806640625
                    }
                },
                "velocity": {
                    "x": 8.017605781555176,
                    "y": -0.045457933098077774,
                    "z": -0.04263888671994209
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053170204162598,
                "transform": {
                    "location": {
                        "x": 700.3917846679688,
                        "y": 4296.8291015625,
                        "z": 369.6832275390625
                    },
                    "rotation": {
                        "roll": 0.0003030507650692016,
                        "pitch": -0.33288291096687317,
                        "yaw": -0.3326415717601776
                    }
                },
                "velocity": {
                    "x": 8.052895545959473,
                    "y": -0.04932168498635292,
                    "z": -0.04449872300028801
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04554271697998,
                "transform": {
                    "location": {
                        "x": 700.6729736328125,
                        "y": 4293.57763671875,
                        "z": 369.6831970214844
                    },
                    "rotation": {
                        "roll": 0.0012858620611950755,
                        "pitch": -0.33291706442832947,
                        "yaw": -0.3514709174633026
                    }
                },
                "velocity": {
                    "x": 8.04526138305664,
                    "y": -0.04937063157558441,
                    "z": -0.04566434770822525
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.35284423828125,
                "transform": {
                    "location": {
                        "x": 696.1071166992188,
                        "y": 4286.90185546875,
                        "z": 369.7034606933594
                    },
                    "rotation": {
                        "roll": -0.00012207035615574569,
                        "pitch": 0.31463947892189026,
                        "yaw": 179.65554809570312
                    }
                },
                "velocity": {
                    "x": -7.3525824546813965,
                    "y": 0.04456198960542679,
                    "z": 0.043167438358068466
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.064836502075195,
                "transform": {
                    "location": {
                        "x": 679.4598999023438,
                        "y": 4287.00048828125,
                        "z": 369.8059387207031
                    },
                    "rotation": {
                        "roll": 3.787735477089882e-05,
                        "pitch": 0.4477120339870453,
                        "yaw": 179.65475463867188
                    }
                },
                "velocity": {
                    "x": -5.064661979675293,
                    "y": 0.030550654977560043,
                    "z": 0.028920898213982582
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1106536388397217,
                "transform": {
                    "location": {
                        "x": 618.98876953125,
                        "y": 4287.40625,
                        "z": 370.1155700683594
                    },
                    "rotation": {
                        "roll": 0.0033506732434034348,
                        "pitch": 0.5237525105476379,
                        "yaw": -179.88919067382812
                    }
                },
                "velocity": {
                    "x": -2.1106340885162354,
                    "y": -0.000997868599370122,
                    "z": 0.009063176810741425
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.720533565385267e-05,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.2725381851196289,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 1.0329968972655479e-05,
                    "y": 9.02184353890334e-07,
                    "z": -6.640056381002069e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.797667026519775,
                "transform": {
                    "location": {
                        "x": 687.3519897460938,
                        "y": 4290.2041015625,
                        "z": 369.7625732421875
                    },
                    "rotation": {
                        "roll": 0.0007967852288857102,
                        "pitch": 0.28630784153938293,
                        "yaw": 179.63735961914062
                    }
                },
                "velocity": {
                    "x": -6.797444820404053,
                    "y": 0.040650077164173126,
                    "z": 0.0369412787258625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.024551391601562,
                "transform": {
                    "location": {
                        "x": 668.1741333007812,
                        "y": 4290.3173828125,
                        "z": 369.8689880371094
                    },
                    "rotation": {
                        "roll": 5.785401299363002e-05,
                        "pitch": 0.28049537539482117,
                        "yaw": 179.6781768798828
                    }
                },
                "velocity": {
                    "x": -9.024273872375488,
                    "y": 0.05070884898304939,
                    "z": 0.049431122839450836
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007352828979492,
                "transform": {
                    "location": {
                        "x": 648.3632202148438,
                        "y": 4290.43359375,
                        "z": 370.0056457519531
                    },
                    "rotation": {
                        "roll": -0.0005493162898346782,
                        "pitch": 0.3054528832435608,
                        "yaw": 179.642333984375
                    }
                },
                "velocity": {
                    "x": -8.007099151611328,
                    "y": 0.0483362190425396,
                    "z": 0.041644591838121414
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021848678588867,
                "transform": {
                    "location": {
                        "x": 629.8759765625,
                        "y": 4290.541015625,
                        "z": 370.06011962890625
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": 0.2917446792125702,
                        "yaw": 179.6412811279297
                    }
                },
                "velocity": {
                    "x": -8.021586418151855,
                    "y": 0.05007120594382286,
                    "z": 0.041277941316366196
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2984655797481537,
        "expert_target_speed": 10.0,
        "target_point": [
            30.12003549509925,
            -0.4243422503746671
        ],
        "target_point_next": [
            81.11953404850327,
            -0.6446322431767069
        ]
    },
    "230": {
        "acceleration": [
            -1.008925437927246,
            0.10967515408992767,
            -0.0006626173853874207
        ],
        "angular_velocity": [
            -0.013766820542514324,
            0.8873162865638733,
            -0.7009551525115967
        ],
        "forward_vector": [
            -0.9999707341194153,
            0.006947576999664307,
            0.003208870068192482
        ],
        "right_vector": [
            -0.0069494242779910564,
            -0.9999756813049316,
            -0.0005650840466842055
        ],
        "location": [
            659.9551391601562,
            4286.927734375,
            369.9056091308594
        ],
        "rotation": [
            0.032377101480960846,
            0.18385502696037292,
            179.6019287109375
        ],
        "velocity": [
            -2.8600552082061768,
            0.05749684199690819,
            0.015003585256636143
        ],
        "speed": 2.8606330909130753,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 17.477569580078125,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.061674118041992,
                "transform": {
                    "location": {
                        "x": 618.8887939453125,
                        "y": 4297.306640625,
                        "z": 370.12603759765625
                    },
                    "rotation": {
                        "roll": 0.0033078768756240606,
                        "pitch": -0.2785692512989044,
                        "yaw": -0.2904052734375
                    }
                },
                "velocity": {
                    "x": 8.061470985412598,
                    "y": -0.04193311184644699,
                    "z": -0.039049435406923294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.018444061279297,
                "transform": {
                    "location": {
                        "x": 620.499267578125,
                        "y": 4294.0478515625,
                        "z": 370.10870361328125
                    },
                    "rotation": {
                        "roll": 0.00048019111272878945,
                        "pitch": -0.2831113338470459,
                        "yaw": -0.2962035834789276
                    }
                },
                "velocity": {
                    "x": 8.01823902130127,
                    "y": -0.042130790650844574,
                    "z": -0.03872931748628616
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075129508972168,
                "transform": {
                    "location": {
                        "x": 659.0143432617188,
                        "y": 4297.0712890625,
                        "z": 369.9041442871094
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.30935972929000854,
                        "yaw": -0.3302917182445526
                    }
                },
                "velocity": {
                    "x": 8.07487964630127,
                    "y": -0.045128192752599716,
                    "z": -0.044602170586586
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.035258293151855,
                "transform": {
                    "location": {
                        "x": 661.1766967773438,
                        "y": 4293.80810546875,
                        "z": 369.8990173339844
                    },
                    "rotation": {
                        "roll": 0.001042401883751154,
                        "pitch": -0.310978502035141,
                        "yaw": -0.3405455946922302
                    }
                },
                "velocity": {
                    "x": 8.035002708435059,
                    "y": -0.04586837813258171,
                    "z": -0.044626083225011826
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053330421447754,
                "transform": {
                    "location": {
                        "x": 702.4049682617188,
                        "y": 4296.81689453125,
                        "z": 369.6715393066406
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": -0.332944393157959,
                        "yaw": -0.3642272353172302
                    }
                },
                "velocity": {
                    "x": 8.053051948547363,
                    "y": -0.04966272786259651,
                    "z": -0.044981811195611954
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041343688964844,
                "transform": {
                    "location": {
                        "x": 702.68359375,
                        "y": 4293.56591796875,
                        "z": 369.6715393066406
                    },
                    "rotation": {
                        "roll": -9.155271254712716e-05,
                        "pitch": -0.3326711654663086,
                        "yaw": -0.35235595703125
                    }
                },
                "velocity": {
                    "x": 8.041065216064453,
                    "y": -0.04943214729428291,
                    "z": -0.0451369546353817
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.152364730834961,
                "transform": {
                    "location": {
                        "x": 694.4244384765625,
                        "y": 4286.91162109375,
                        "z": 369.7132263183594
                    },
                    "rotation": {
                        "roll": 0.0003723599947988987,
                        "pitch": 0.3020036220550537,
                        "yaw": 179.6490020751953
                    }
                },
                "velocity": {
                    "x": -6.152148723602295,
                    "y": 0.0369316004216671,
                    "z": 0.03591074049472809
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.839676380157471,
                "transform": {
                    "location": {
                        "x": 678.1199340820312,
                        "y": 4287.0078125,
                        "z": 369.81365966796875
                    },
                    "rotation": {
                        "roll": 0.00039435288636013865,
                        "pitch": 0.415207177400589,
                        "yaw": 179.65733337402344
                    }
                },
                "velocity": {
                    "x": -5.839484214782715,
                    "y": 0.034785836935043335,
                    "z": 0.03220369294285774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.5977892875671387,
                "transform": {
                    "location": {
                        "x": 618.80322265625,
                        "y": 4287.4072265625,
                        "z": 370.1187438964844
                    },
                    "rotation": {
                        "roll": -0.002929686801508069,
                        "pitch": -0.06679924577474594,
                        "yaw": -179.76515197753906
                    }
                },
                "velocity": {
                    "x": -0.5977798104286194,
                    "y": -0.00212068110704422,
                    "z": 0.0026127242017537355
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0005179758300073445,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.2725381851196289,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 8.579157110943925e-06,
                    "y": 1.53324544953648e-05,
                    "z": -0.0005176777485758066
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.61349868774414,
                "transform": {
                    "location": {
                        "x": 685.4266967773438,
                        "y": 4290.21533203125,
                        "z": 369.77435302734375
                    },
                    "rotation": {
                        "roll": 0.0006202924414537847,
                        "pitch": 0.16080313920974731,
                        "yaw": 179.64154052734375
                    }
                },
                "velocity": {
                    "x": -8.613211631774902,
                    "y": 0.05090794339776039,
                    "z": 0.04844537749886513
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.727428436279297,
                "transform": {
                    "location": {
                        "x": 665.9891967773438,
                        "y": 4290.3291015625,
                        "z": 369.8804931640625
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": 0.3317764103412628,
                        "yaw": 179.67269897460938
                    }
                },
                "velocity": {
                    "x": -8.72714900970459,
                    "y": 0.049847159534692764,
                    "z": 0.0487993024289608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04298210144043,
                "transform": {
                    "location": {
                        "x": 646.3568115234375,
                        "y": 4290.4453125,
                        "z": 370.0162353515625
                    },
                    "rotation": {
                        "roll": -0.0007019041222520173,
                        "pitch": 0.304503470659256,
                        "yaw": 179.6527557373047
                    }
                },
                "velocity": {
                    "x": -8.042731285095215,
                    "y": 0.04880939796566963,
                    "z": 0.0407169908285141
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990835189819336,
                "transform": {
                    "location": {
                        "x": 627.8746948242188,
                        "y": 4290.552734375,
                        "z": 370.0701599121094
                    },
                    "rotation": {
                        "roll": 0.0002007597649935633,
                        "pitch": 0.28552237153053284,
                        "yaw": 179.64122009277344
                    }
                },
                "velocity": {
                    "x": -7.990578651428223,
                    "y": 0.04998211935162544,
                    "z": 0.0400216206908226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2802527844905853,
        "expert_target_speed": 10.0,
        "target_point": [
            29.41961682746882,
            -0.25801726611723996
        ],
        "target_point_next": [
            80.41956355232684,
            -0.2049659585777205
        ]
    },
    "235": {
        "acceleration": [
            -2.403402328491211,
            0.17079055309295654,
            -0.007370002567768097
        ],
        "angular_velocity": [
            0.04095993936061859,
            0.7550427317619324,
            -2.437822103500366
        ],
        "forward_vector": [
            -0.9998718500137329,
            0.014455815777182579,
            0.006883089896291494
        ],
        "right_vector": [
            -0.014461074024438858,
            -0.9998952150344849,
            -0.0007149140001274645
        ],
        "location": [
            659.183837890625,
            4286.9453125,
            369.908935546875
        ],
        "rotation": [
            0.04096252843737602,
            0.39437511563301086,
            179.17169189453125
        ],
        "velocity": [
            -3.3334643840789795,
            0.09665808826684952,
            0.017513159662485123
        ],
        "speed": 3.334865452450886,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 16.707792282104492,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 580.0008544921875,
                        "y": 4297.43896484375,
                        "z": 370.5900573730469
                    },
                    "rotation": {
                        "roll": 5.211066994581515e-11,
                        "pitch": -0.24142667651176453,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.287012100219727,
                "transform": {
                    "location": {
                        "x": 620.9332885742188,
                        "y": 4297.29638671875,
                        "z": 370.115966796875
                    },
                    "rotation": {
                        "roll": -0.0003662108792923391,
                        "pitch": -0.280488520860672,
                        "yaw": -0.3027648329734802
                    }
                },
                "velocity": {
                    "x": 8.286797523498535,
                    "y": -0.043516021221876144,
                    "z": -0.04092058539390564
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.067505836486816,
                "transform": {
                    "location": {
                        "x": 622.5064086914062,
                        "y": 4294.03759765625,
                        "z": 370.0988464355469
                    },
                    "rotation": {
                        "roll": 0.00012191377754788846,
                        "pitch": -0.2834118604660034,
                        "yaw": -0.306671142578125
                    }
                },
                "velocity": {
                    "x": 8.067279815673828,
                    "y": -0.044615667313337326,
                    "z": -0.04067109897732735
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024518966674805,
                "transform": {
                    "location": {
                        "x": 661.026611328125,
                        "y": 4297.0595703125,
                        "z": 369.8932189941406
                    },
                    "rotation": {
                        "roll": -3.051763997063972e-05,
                        "pitch": -0.30990615487098694,
                        "yaw": -0.3285216987133026
                    }
                },
                "velocity": {
                    "x": 8.024267196655273,
                    "y": -0.04596249386668205,
                    "z": -0.04393431916832924
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031881332397461,
                "transform": {
                    "location": {
                        "x": 663.1856689453125,
                        "y": 4293.79638671875,
                        "z": 369.88812255859375
                    },
                    "rotation": {
                        "roll": 0.001721097039990127,
                        "pitch": -0.3121669590473175,
                        "yaw": -0.3176575005054474
                    }
                },
                "velocity": {
                    "x": 8.031621932983398,
                    "y": -0.046533241868019104,
                    "z": -0.04471549019217491
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.051913261413574,
                "transform": {
                    "location": {
                        "x": 704.4180908203125,
                        "y": 4296.8056640625,
                        "z": 369.659912109375
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": -0.33322441577911377,
                        "yaw": -0.3358154296875
                    }
                },
                "velocity": {
                    "x": 8.051628112792969,
                    "y": -0.04980619251728058,
                    "z": -0.04605181887745857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045125961303711,
                "transform": {
                    "location": {
                        "x": 704.6942749023438,
                        "y": 4293.55419921875,
                        "z": 369.659912109375
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.33459046483039856,
                        "yaw": -0.3484191298484802
                    }
                },
                "velocity": {
                    "x": 8.04484748840332,
                    "y": -0.0490255206823349,
                    "z": -0.04549670219421387
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 581.7647094726562,
                        "y": 4294.1787109375,
                        "z": 370.4474792480469
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.562897205352783,
                "transform": {
                    "location": {
                        "x": 692.9609985351562,
                        "y": 4286.9208984375,
                        "z": 369.721435546875
                    },
                    "rotation": {
                        "roll": 7.876167364884168e-05,
                        "pitch": 0.31140878796577454,
                        "yaw": 179.66940307617188
                    }
                },
                "velocity": {
                    "x": -5.56270170211792,
                    "y": 0.03312959894537926,
                    "z": 0.03287579491734505
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.486990928649902,
                "transform": {
                    "location": {
                        "x": 676.4193725585938,
                        "y": 4287.01806640625,
                        "z": 369.82086181640625
                    },
                    "rotation": {
                        "roll": 0.0025904641952365637,
                        "pitch": 0.686611533164978,
                        "yaw": 179.61355590820312
                    }
                },
                "velocity": {
                    "x": -7.486733436584473,
                    "y": 0.046524908393621445,
                    "z": 0.04115183651447296
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4680745601654053,
                "transform": {
                    "location": {
                        "x": 618.5213012695312,
                        "y": 4287.4072265625,
                        "z": 370.1183776855469
                    },
                    "rotation": {
                        "roll": 0.0033226513769477606,
                        "pitch": 0.3935827910900116,
                        "yaw": -179.79190063476562
                    }
                },
                "velocity": {
                    "x": -1.4680607318878174,
                    "y": -0.001564257312566042,
                    "z": 0.006174783688038588
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.943724004784599e-05,
                "transform": {
                    "location": {
                        "x": 607.2409057617188,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.2725381851196289,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 2.0026527636218816e-05,
                    "y": -3.3916305255843326e-05,
                    "z": -1.9794367744907504e-06
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.216388702392578,
                "transform": {
                    "location": {
                        "x": 683.1587524414062,
                        "y": 4290.22900390625,
                        "z": 369.7864685058594
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": 0.23527951538562775,
                        "yaw": 179.6329345703125
                    }
                },
                "velocity": {
                    "x": -9.216071128845215,
                    "y": 0.05612436309456825,
                    "z": 0.05205579474568367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.996341705322266,
                "transform": {
                    "location": {
                        "x": 663.7420043945312,
                        "y": 4290.3427734375,
                        "z": 369.8930358886719
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.29015326499938965,
                        "yaw": 179.66592407226562
                    }
                },
                "velocity": {
                    "x": -8.996045112609863,
                    "y": 0.05496515706181526,
                    "z": 0.048156917095184326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007425308227539,
                "transform": {
                    "location": {
                        "x": 644.3505859375,
                        "y": 4290.45703125,
                        "z": 370.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0012087716022506356,
                        "pitch": 0.30034390091896057,
                        "yaw": 179.65301513671875
                    }
                },
                "velocity": {
                    "x": -8.007171630859375,
                    "y": 0.048415765166282654,
                    "z": 0.04153900966048241
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022207260131836,
                "transform": {
                    "location": {
                        "x": 625.8729248046875,
                        "y": 4290.564453125,
                        "z": 370.0801086425781
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.282865434885025,
                        "yaw": 179.6411590576172
                    }
                },
                "velocity": {
                    "x": -8.02194881439209,
                    "y": 0.0502360537648201,
                    "z": 0.04030517488718033
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.2445983737707138,
        "expert_target_speed": 0,
        "target_point": [
            28.64925007516809,
            -0.030667175456502216
        ],
        "target_point_next": [
            79.64736052922794,
            0.4053494470463782
        ]
    },
    "240": {
        "acceleration": [
            -1.3515233993530273,
            0.2548983693122864,
            0.02375241369009018
        ],
        "angular_velocity": [
            0.04150950163602829,
            0.009146197699010372,
            -1.9898927211761475
        ],
        "forward_vector": [
            -0.9996828436851501,
            0.023556608706712723,
            0.008903027512133121
        ],
        "right_vector": [
            -0.023565445095300674,
            -0.999721884727478,
            -0.0008890258031897247
        ],
        "location": [
            658.2720336914062,
            4286.97509765625,
            369.9133605957031
        ],
        "rotation": [
            0.05093945190310478,
            0.5101126432418823,
            178.65013122558594
        ],
        "velocity": [
            -3.8711860179901123,
            0.1518145650625229,
            0.020344505086541176
        ],
        "speed": 3.874161696166961,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 15.798452377319336,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 582.049560546875,
                        "y": 4297.42724609375,
                        "z": 370.29443359375
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.067682266235352,
                "transform": {
                    "location": {
                        "x": 622.9765625,
                        "y": 4297.28466796875,
                        "z": 370.1059265136719
                    },
                    "rotation": {
                        "roll": 0.001322047202847898,
                        "pitch": -0.2880837023258209,
                        "yaw": -0.3155517280101776
                    }
                },
                "velocity": {
                    "x": 8.06745433807373,
                    "y": -0.0459834523499012,
                    "z": -0.03962298855185509
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.099030494689941,
                "transform": {
                    "location": {
                        "x": 624.5316772460938,
                        "y": 4294.0263671875,
                        "z": 370.0887451171875
                    },
                    "rotation": {
                        "roll": -3.0517514460370876e-05,
                        "pitch": -0.2831113338470459,
                        "yaw": -0.32635498046875
                    }
                },
                "velocity": {
                    "x": 8.098793983459473,
                    "y": -0.04625096172094345,
                    "z": -0.04117576405405998
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.076355934143066,
                "transform": {
                    "location": {
                        "x": 663.0396728515625,
                        "y": 4297.0478515625,
                        "z": 369.88232421875
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": -0.30963295698165894,
                        "yaw": -0.33154296875
                    }
                },
                "velocity": {
                    "x": 8.076085090637207,
                    "y": -0.048897258937358856,
                    "z": -0.04463903233408928
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.026089668273926,
                "transform": {
                    "location": {
                        "x": 665.1923217773438,
                        "y": 4293.78466796875,
                        "z": 369.8771667480469
                    },
                    "rotation": {
                        "roll": 0.0010984522523358464,
                        "pitch": -0.3187853991985321,
                        "yaw": -0.3496398627758026
                    }
                },
                "velocity": {
                    "x": 8.025833129882812,
                    "y": -0.04693443700671196,
                    "z": -0.04387539252638817
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053902626037598,
                "transform": {
                    "location": {
                        "x": 706.4312133789062,
                        "y": 4296.79345703125,
                        "z": 369.6482849121094
                    },
                    "rotation": {
                        "roll": 0.0014405054971575737,
                        "pitch": -0.33343616127967834,
                        "yaw": -0.3698424994945526
                    }
                },
                "velocity": {
                    "x": 8.05361270904541,
                    "y": -0.05040261521935463,
                    "z": -0.046134088188409805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041658401489258,
                "transform": {
                    "location": {
                        "x": 706.7051391601562,
                        "y": 4293.54248046875,
                        "z": 369.6482238769531
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.3345016539096832,
                        "yaw": -0.3512572944164276
                    }
                },
                "velocity": {
                    "x": 8.041380882263184,
                    "y": -0.049338702112436295,
                    "z": -0.04510118067264557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 583.8463134765625,
                        "y": 4294.16650390625,
                        "z": 370.3661193847656
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.694085121154785,
                "transform": {
                    "location": {
                        "x": 691.5790405273438,
                        "y": 4286.9287109375,
                        "z": 369.7292785644531
                    },
                    "rotation": {
                        "roll": 0.0002808512654155493,
                        "pitch": 0.32688599824905396,
                        "yaw": 179.66964721679688
                    }
                },
                "velocity": {
                    "x": -5.693894386291504,
                    "y": 0.03246248513460159,
                    "z": 0.03347163274884224
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.7474846839904785,
                "transform": {
                    "location": {
                        "x": 674.4669189453125,
                        "y": 4287.02978515625,
                        "z": 369.8331604003906
                    },
                    "rotation": {
                        "roll": 0.001923982985317707,
                        "pitch": 0.4920536279678345,
                        "yaw": 179.6085662841797
                    }
                },
                "velocity": {
                    "x": -7.74721622467041,
                    "y": 0.047853268682956696,
                    "z": 0.04324161261320114
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.235183000564575,
                "transform": {
                    "location": {
                        "x": 618.0341186523438,
                        "y": 4287.40673828125,
                        "z": 370.12005615234375
                    },
                    "rotation": {
                        "roll": 0.004183875396847725,
                        "pitch": 0.5668920278549194,
                        "yaw": -179.83140563964844
                    }
                },
                "velocity": {
                    "x": -2.2351605892181396,
                    "y": -0.0018419985426589847,
                    "z": 0.00984424538910389
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004633285279851407,
                "transform": {
                    "location": {
                        "x": 607.2408447265625,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.2725723385810852,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": -9.903684485834674e-07,
                    "y": -7.336153430514969e-06,
                    "z": -0.0004632693890016526
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.174331665039062,
                "transform": {
                    "location": {
                        "x": 680.8814697265625,
                        "y": 4290.2431640625,
                        "z": 369.7986145019531
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.31051403284072876,
                        "yaw": 179.6693115234375
                    }
                },
                "velocity": {
                    "x": -9.174013137817383,
                    "y": 0.05557011067867279,
                    "z": 0.05256294086575508
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.123915672302246,
                "transform": {
                    "location": {
                        "x": 661.609375,
                        "y": 4290.35498046875,
                        "z": 369.9040222167969
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": 0.3626078963279724,
                        "yaw": 179.6622772216797
                    }
                },
                "velocity": {
                    "x": -8.123658180236816,
                    "y": 0.04788072779774666,
                    "z": 0.04351891577243805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043326377868652,
                "transform": {
                    "location": {
                        "x": 642.3441162109375,
                        "y": 4290.46875,
                        "z": 370.03729248046875
                    },
                    "rotation": {
                        "roll": 0.001476073288358748,
                        "pitch": 0.30113619565963745,
                        "yaw": 179.65347290039062
                    }
                },
                "velocity": {
                    "x": -8.043072700500488,
                    "y": 0.04866434633731842,
                    "z": 0.041508980095386505
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990037441253662,
                "transform": {
                    "location": {
                        "x": 623.8714599609375,
                        "y": 4290.576171875,
                        "z": 370.0899963378906
                    },
                    "rotation": {
                        "roll": -0.0001831053668865934,
                        "pitch": 0.283753365278244,
                        "yaw": 179.64283752441406
                    }
                },
                "velocity": {
                    "x": -7.989775657653809,
                    "y": 0.05046386644244194,
                    "z": 0.04045100137591362
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.20253658294677734,
        "expert_target_speed": 0,
        "target_point": [
            27.736089458061993,
            0.23841667219214036
        ],
        "target_point_next": [
            78.72811811379712,
            1.1386355079622414
        ]
    },
    "245": {
        "acceleration": [
            -1.0598182678222656,
            0.5378973484039307,
            0.016122274100780487
        ],
        "angular_velocity": [
            0.1981339305639267,
            -0.149062380194664,
            -4.271111488342285
        ],
        "forward_vector": [
            -0.999272882938385,
            0.037268247455358505,
            0.008046897128224373
        ],
        "right_vector": [
            -0.03728226199746132,
            -0.9993035197257996,
            -0.0015988100785762072
        ],
        "location": [
            657.275146484375,
            4287.02197265625,
            369.9189453125
        ],
        "rotation": [
            0.09160807728767395,
            0.46105822920799255,
            177.86412048339844
        ],
        "velocity": [
            -4.105360984802246,
            0.25138750672340393,
            0.02213938720524311
        ],
        "speed": 4.1130505095455705,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 14.805480003356934,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 584.1326904296875,
                        "y": 4297.4150390625,
                        "z": 370.28411865234375
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.998682975769043,
                "transform": {
                    "location": {
                        "x": 624.76171875,
                        "y": 4297.27294921875,
                        "z": 370.1004333496094
                    },
                    "rotation": {
                        "roll": 0.001148198381997645,
                        "pitch": -0.6994591355323792,
                        "yaw": -0.1654357761144638
                    }
                },
                "velocity": {
                    "x": 5.9985246658325195,
                    "y": -0.03190891072154045,
                    "z": -0.0296835508197546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.029332160949707,
                "transform": {
                    "location": {
                        "x": 626.5448608398438,
                        "y": 4294.01416015625,
                        "z": 370.0787658691406
                    },
                    "rotation": {
                        "roll": 0.00015183526556938887,
                        "pitch": -0.2842041552066803,
                        "yaw": -0.3292235732078552
                    }
                },
                "velocity": {
                    "x": 8.029098510742188,
                    "y": -0.04605097323656082,
                    "z": -0.04031567648053169
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023085594177246,
                "transform": {
                    "location": {
                        "x": 665.0516967773438,
                        "y": 4297.0361328125,
                        "z": 369.8714294433594
                    },
                    "rotation": {
                        "roll": 0.0001390571123920381,
                        "pitch": -0.312740683555603,
                        "yaw": -0.33477783203125
                    }
                },
                "velocity": {
                    "x": 8.022820472717285,
                    "y": -0.04679702967405319,
                    "z": -0.04547535255551338
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.032980918884277,
                "transform": {
                    "location": {
                        "x": 667.1998291015625,
                        "y": 4293.77294921875,
                        "z": 369.8662414550781
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.3165314495563507,
                        "yaw": -0.3180541694164276
                    }
                },
                "velocity": {
                    "x": 8.032720565795898,
                    "y": -0.0465470589697361,
                    "z": -0.04488402605056763
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052523612976074,
                "transform": {
                    "location": {
                        "x": 708.4445190429688,
                        "y": 4296.7822265625,
                        "z": 369.6365966796875
                    },
                    "rotation": {
                        "roll": 7.544227264588699e-05,
                        "pitch": -0.33489781618118286,
                        "yaw": -0.3367614448070526
                    }
                },
                "velocity": {
                    "x": 8.052239418029785,
                    "y": -0.049997590482234955,
                    "z": -0.04546551778912544
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044594764709473,
                "transform": {
                    "location": {
                        "x": 708.7159423828125,
                        "y": 4293.53076171875,
                        "z": 369.6365966796875
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.33394843339920044,
                        "yaw": -0.3516235053539276
                    }
                },
                "velocity": {
                    "x": 8.044315338134766,
                    "y": -0.04944911226630211,
                    "z": -0.04541857913136482
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 585.9279174804688,
                        "y": 4294.154296875,
                        "z": 370.2847595214844
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.8793625831604,
                "transform": {
                    "location": {
                        "x": 690.0162353515625,
                        "y": 4286.9375,
                        "z": 369.7380065917969
                    },
                    "rotation": {
                        "roll": 0.0004397882439661771,
                        "pitch": 0.3486879765987396,
                        "yaw": 179.67791748046875
                    }
                },
                "velocity": {
                    "x": -6.879140853881836,
                    "y": 0.039791375398635864,
                    "z": 0.038270071148872375
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.504260540008545,
                "transform": {
                    "location": {
                        "x": 673.0903930664062,
                        "y": 4287.03857421875,
                        "z": 369.8498229980469
                    },
                    "rotation": {
                        "roll": 0.0013011123519390821,
                        "pitch": -0.6507257223129272,
                        "yaw": 179.6338348388672
                    }
                },
                "velocity": {
                    "x": -2.504180431365967,
                    "y": 0.01571623608469963,
                    "z": 0.012391423806548119
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4364478290081024,
                "transform": {
                    "location": {
                        "x": 617.7591552734375,
                        "y": 4287.40771484375,
                        "z": 370.1240234375
                    },
                    "rotation": {
                        "roll": -0.0014648435171693563,
                        "pitch": -0.1618003398180008,
                        "yaw": -179.6987762451172
                    }
                },
                "velocity": {
                    "x": -0.4364387094974518,
                    "y": -0.0007757993880659342,
                    "z": 0.0027136611752212048
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.573198723141104e-05,
                "transform": {
                    "location": {
                        "x": 607.2408447265625,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.2725723385810852,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": 4.401728347147582e-06,
                    "y": 7.97755092207808e-06,
                    "z": 5.498215978150256e-05
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.656903266906738,
                "transform": {
                    "location": {
                        "x": 678.6141357421875,
                        "y": 4290.25634765625,
                        "z": 369.81097412109375
                    },
                    "rotation": {
                        "roll": 0.0005876549403183162,
                        "pitch": 0.35904935002326965,
                        "yaw": 179.64100646972656
                    }
                },
                "velocity": {
                    "x": -8.656620025634766,
                    "y": 0.05115439370274544,
                    "z": 0.04779587686061859
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.858194828033447,
                "transform": {
                    "location": {
                        "x": 659.8178100585938,
                        "y": 4290.3662109375,
                        "z": 369.9132080078125
                    },
                    "rotation": {
                        "roll": 0.0009306336287409067,
                        "pitch": 0.41093146800994873,
                        "yaw": 179.67539978027344
                    }
                },
                "velocity": {
                    "x": -6.857973098754883,
                    "y": 0.04107432812452316,
                    "z": 0.03680924326181412
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007511138916016,
                "transform": {
                    "location": {
                        "x": 640.337890625,
                        "y": 4290.48046875,
                        "z": 370.0477294921875
                    },
                    "rotation": {
                        "roll": 0.0003689248114824295,
                        "pitch": 0.3003711998462677,
                        "yaw": 179.6533966064453
                    }
                },
                "velocity": {
                    "x": -8.0072603225708,
                    "y": 0.04840800538659096,
                    "z": 0.04100530594587326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.021747589111328,
                "transform": {
                    "location": {
                        "x": 621.8698120117188,
                        "y": 4290.587890625,
                        "z": 370.0998840332031
                    },
                    "rotation": {
                        "roll": 1.1030614587070886e-05,
                        "pitch": 0.2840060889720917,
                        "yaw": 179.64065551757812
                    }
                },
                "velocity": {
                    "x": -8.02148151397705,
                    "y": 0.05107291415333748,
                    "z": 0.04077812284231186
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.12545162439346313,
        "expert_target_speed": 0,
        "target_point": [
            26.732267560814975,
            0.6285589282138024
        ],
        "target_point_next": [
            77.7071493422143,
            2.228186307309172
        ]
    },
    "250": {
        "acceleration": [
            -1.5035152435302734,
            0.6649261713027954,
            0.000412575900554657
        ],
        "angular_velocity": [
            0.14217627048492432,
            0.0631573274731636,
            -5.927884101867676
        ],
        "forward_vector": [
            -0.9981656074523926,
            0.06000356376171112,
            0.008059056475758553
        ],
        "right_vector": [
            -0.06002689525485039,
            -0.9981931447982788,
            -0.002685086103156209
        ],
        "location": [
            656.2051391601562,
            4287.10205078125,
            369.9247131347656
        ],
        "rotation": [
            0.1538492888212204,
            0.4617549180984497,
            176.55987548828125
        ],
        "velocity": [
            -4.453995704650879,
            0.41705623269081116,
            0.022154636681079865
        ],
        "speed": 4.473478918948286,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 13.742446899414062,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 586.2157592773438,
                        "y": 4297.40234375,
                        "z": 370.2738342285156
                    },
                    "rotation": {
                        "roll": 5.211069423194381e-11,
                        "pitch": -0.24831834435462952,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.374722003936768,
                "transform": {
                    "location": {
                        "x": 626.1586303710938,
                        "y": 4297.26513671875,
                        "z": 370.0924987792969
                    },
                    "rotation": {
                        "roll": -0.003845214145258069,
                        "pitch": -0.5743368864059448,
                        "yaw": -0.149810791015625
                    }
                },
                "velocity": {
                    "x": 5.374576091766357,
                    "y": -0.028916560113430023,
                    "z": -0.027013320475816727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.09913158416748,
                "transform": {
                    "location": {
                        "x": 628.5615844726562,
                        "y": 4294.00244140625,
                        "z": 370.0687561035156
                    },
                    "rotation": {
                        "roll": 0.0002158868737751618,
                        "pitch": -0.28589120507240295,
                        "yaw": -0.329437255859375
                    }
                },
                "velocity": {
                    "x": 8.098896026611328,
                    "y": -0.04653595760464668,
                    "z": -0.04071415215730667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077017784118652,
                "transform": {
                    "location": {
                        "x": 667.0643310546875,
                        "y": 4297.0244140625,
                        "z": 369.8604736328125
                    },
                    "rotation": {
                        "roll": -0.0014038081280887127,
                        "pitch": -0.31375154852867126,
                        "yaw": -0.3347167372703552
                    }
                },
                "velocity": {
                    "x": 8.076750755310059,
                    "y": -0.0472099669277668,
                    "z": -0.04563911631703377
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029462814331055,
                "transform": {
                    "location": {
                        "x": 669.2076416015625,
                        "y": 4293.76123046875,
                        "z": 369.8552551269531
                    },
                    "rotation": {
                        "roll": 0.0002660340687725693,
                        "pitch": -0.3173169195652008,
                        "yaw": -0.3487853705883026
                    }
                },
                "velocity": {
                    "x": 8.029200553894043,
                    "y": -0.046831969171762466,
                    "z": -0.044842083007097244
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053253173828125,
                "transform": {
                    "location": {
                        "x": 710.4575805664062,
                        "y": 4296.77001953125,
                        "z": 369.6248779296875
                    },
                    "rotation": {
                        "roll": 0.0002838166547007859,
                        "pitch": -0.334993451833725,
                        "yaw": -0.3688353896141052
                    }
                },
                "velocity": {
                    "x": 8.052967071533203,
                    "y": -0.04958987981081009,
                    "z": -0.04630842059850693
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.04214859008789,
                "transform": {
                    "location": {
                        "x": 710.7265625,
                        "y": 4293.51904296875,
                        "z": 369.6249084472656
                    },
                    "rotation": {
                        "roll": -3.0517610866809264e-05,
                        "pitch": -0.33428993821144104,
                        "yaw": -0.3553466498851776
                    }
                },
                "velocity": {
                    "x": 8.041858673095703,
                    "y": -0.04987514764070511,
                    "z": -0.04662639647722244
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.265894889831543,
                "transform": {
                    "location": {
                        "x": 587.9931640625,
                        "y": 4294.14404296875,
                        "z": 370.2723693847656
                    },
                    "rotation": {
                        "roll": -0.02661132626235485,
                        "pitch": -0.29004397988319397,
                        "yaw": -0.2500610649585724
                    }
                },
                "velocity": {
                    "x": 8.265701293945312,
                    "y": -0.002338837133720517,
                    "z": -0.056466877460479736
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.703540802001953,
                "transform": {
                    "location": {
                        "x": 688.2241821289062,
                        "y": 4286.9482421875,
                        "z": 369.7481689453125
                    },
                    "rotation": {
                        "roll": 0.0007149571902118623,
                        "pitch": 0.34789565205574036,
                        "yaw": 179.63455200195312
                    }
                },
                "velocity": {
                    "x": -7.70328426361084,
                    "y": 0.04618429020047188,
                    "z": 0.04263995960354805
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3895153999328613,
                "transform": {
                    "location": {
                        "x": 672.501708984375,
                        "y": 4287.04248046875,
                        "z": 369.84954833984375
                    },
                    "rotation": {
                        "roll": 0.0007892536814324558,
                        "pitch": -0.22595630586147308,
                        "yaw": 179.6394500732422
                    }
                },
                "velocity": {
                    "x": -2.389432191848755,
                    "y": 0.014132537879049778,
                    "z": 0.014050626195967197
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0057272594422101974,
                "transform": {
                    "location": {
                        "x": 617.5993041992188,
                        "y": 4287.408203125,
                        "z": 370.1241455078125
                    },
                    "rotation": {
                        "roll": 0.0009514272096566856,
                        "pitch": 0.015169849619269371,
                        "yaw": -179.6226348876953
                    }
                },
                "velocity": {
                    "x": -0.005692972801625729,
                    "y": 0.0002652795519679785,
                    "z": 0.0005667359801009297
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0004461044736672193,
                "transform": {
                    "location": {
                        "x": 607.2408447265625,
                        "y": 4287.52734375,
                        "z": 370.21112060546875
                    },
                    "rotation": {
                        "roll": -0.0012817381648346782,
                        "pitch": 0.2725723385810852,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": 4.942267878504936e-06,
                    "y": -3.5008255508728325e-05,
                    "z": -0.00044470123248174787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.810530185699463,
                "transform": {
                    "location": {
                        "x": 676.6317749023438,
                        "y": 4290.26904296875,
                        "z": 369.8209533691406
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.47667887806892395,
                        "yaw": 179.861328125
                    }
                },
                "velocity": {
                    "x": -6.810325622558594,
                    "y": 0.03686201944947243,
                    "z": 0.03774748742580414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.277822494506836,
                "transform": {
                    "location": {
                        "x": 658.0667114257812,
                        "y": 4290.3759765625,
                        "z": 369.9237365722656
                    },
                    "rotation": {
                        "roll": -0.0007934567402116954,
                        "pitch": 0.28714796900749207,
                        "yaw": 179.63475036621094
                    }
                },
                "velocity": {
                    "x": -7.27759313583374,
                    "y": 0.043655361980199814,
                    "z": 0.037750642746686935
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043941497802734,
                "transform": {
                    "location": {
                        "x": 638.3314208984375,
                        "y": 4290.4921875,
                        "z": 370.0582275390625
                    },
                    "rotation": {
                        "roll": -0.0001525877887615934,
                        "pitch": 0.3016894459724426,
                        "yaw": 179.65345764160156
                    }
                },
                "velocity": {
                    "x": -8.04368782043457,
                    "y": 0.04868004843592644,
                    "z": 0.04140708968043327
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.990140914916992,
                "transform": {
                    "location": {
                        "x": 619.8685302734375,
                        "y": 4290.6015625,
                        "z": 370.1097106933594
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": 0.27989429235458374,
                        "yaw": 179.63331604003906
                    }
                },
                "velocity": {
                    "x": -7.989881992340088,
                    "y": 0.05047469958662987,
                    "z": 0.039822690188884735
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.009893465787172318,
        "expert_target_speed": 0,
        "target_point": [
            25.638150242560123,
            1.2525972899944149
        ],
        "target_point_next": [
            76.56341498494356,
            4.012088420211322
        ]
    },
    "255": {
        "acceleration": [
            0.5679130554199219,
            0.13840198516845703,
            -0.0038471072912216187
        ],
        "angular_velocity": [
            -0.3116995394229889,
            -0.5111144185066223,
            -5.539308071136475
        ],
        "forward_vector": [
            -0.9962280988693237,
            0.08645160496234894,
            0.0074611203745007515
        ],
        "right_vector": [
            -0.08647281676530838,
            -0.9962508678436279,
            -0.002567775547504425
        ],
        "location": [
            655.0584716796875,
            4287.21923828125,
            369.9308166503906
        ],
        "rotation": [
            0.1471269577741623,
            0.42749467492103577,
            175.0403594970703
        ],
        "velocity": [
            -4.602435111999512,
            0.5389350056648254,
            0.025116052478551865
        ],
        "speed": 4.6338817313885885,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 12.607674598693848,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.007988929748535,
                "transform": {
                    "location": {
                        "x": 588.2647705078125,
                        "y": 4297.3935546875,
                        "z": 370.2615051269531
                    },
                    "rotation": {
                        "roll": -0.005828856490552425,
                        "pitch": -0.26156890392303467,
                        "yaw": -0.2167052924633026
                    }
                },
                "velocity": {
                    "x": 8.007742881774902,
                    "y": -0.0018247483531013131,
                    "z": -0.06282036006450653
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.573526382446289,
                "transform": {
                    "location": {
                        "x": 627.6052856445312,
                        "y": 4297.25732421875,
                        "z": 370.08123779296875
                    },
                    "rotation": {
                        "roll": 4.473938315641135e-05,
                        "pitch": -0.07061732560396194,
                        "yaw": -0.1717529296875
                    }
                },
                "velocity": {
                    "x": 6.573358058929443,
                    "y": -0.03457154333591461,
                    "z": -0.031892452389001846
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.04701042175293,
                "transform": {
                    "location": {
                        "x": 630.5802612304688,
                        "y": 4293.99072265625,
                        "z": 370.0586242675781
                    },
                    "rotation": {
                        "roll": 0.0016317032277584076,
                        "pitch": -0.29250967502593994,
                        "yaw": -0.3291321098804474
                    }
                },
                "velocity": {
                    "x": 8.046772956848145,
                    "y": -0.04619534686207771,
                    "z": -0.04097900912165642
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024219512939453,
                "transform": {
                    "location": {
                        "x": 669.0767822265625,
                        "y": 4297.0126953125,
                        "z": 369.8494567871094
                    },
                    "rotation": {
                        "roll": -0.0003967285738326609,
                        "pitch": -0.31402474641799927,
                        "yaw": -0.338531494140625
                    }
                },
                "velocity": {
                    "x": 8.023962020874023,
                    "y": -0.04738302901387215,
                    "z": -0.043541982769966125
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029420852661133,
                "transform": {
                    "location": {
                        "x": 671.2145385742188,
                        "y": 4293.75,
                        "z": 369.84423828125
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.3179316222667694,
                        "yaw": -0.3209838569164276
                    }
                },
                "velocity": {
                    "x": 8.029160499572754,
                    "y": -0.04701309651136398,
                    "z": -0.04441475868225098
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.053200721740723,
                "transform": {
                    "location": {
                        "x": 712.4707641601562,
                        "y": 4296.7587890625,
                        "z": 369.6131591796875
                    },
                    "rotation": {
                        "roll": 0.0010785245103761554,
                        "pitch": -0.33489781618118286,
                        "yaw": -0.3375244140625
                    }
                },
                "velocity": {
                    "x": 8.0529146194458,
                    "y": -0.049884214997291565,
                    "z": -0.046090587973594666
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044682502746582,
                "transform": {
                    "location": {
                        "x": 712.7373046875,
                        "y": 4293.50732421875,
                        "z": 369.6131896972656
                    },
                    "rotation": {
                        "roll": 0.000292436801828444,
                        "pitch": -0.335266649723053,
                        "yaw": -0.3585509955883026
                    }
                },
                "velocity": {
                    "x": 8.044398307800293,
                    "y": -0.05040229856967926,
                    "z": -0.045055288821458817
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.045018196105957,
                "transform": {
                    "location": {
                        "x": 590.0308227539062,
                        "y": 4294.14697265625,
                        "z": 370.26025390625
                    },
                    "rotation": {
                        "roll": -0.0390319861471653,
                        "pitch": -0.27132925391197205,
                        "yaw": 0.1396835446357727
                    }
                },
                "velocity": {
                    "x": 8.04483413696289,
                    "y": 0.03836900740861893,
                    "z": -0.038639798760414124
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.92365837097168,
                "transform": {
                    "location": {
                        "x": 686.3572387695312,
                        "y": 4286.95947265625,
                        "z": 369.7589111328125
                    },
                    "rotation": {
                        "roll": 0.00010013105202233419,
                        "pitch": 0.31433895230293274,
                        "yaw": 179.666259765625
                    }
                },
                "velocity": {
                    "x": -6.923416614532471,
                    "y": 0.04197424277663231,
                    "z": 0.03980163484811783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.8645384311676025,
                "transform": {
                    "location": {
                        "x": 671.8451538085938,
                        "y": 4287.04638671875,
                        "z": 369.8473815917969
                    },
                    "rotation": {
                        "roll": 0.0002782375377137214,
                        "pitch": 0.5202896595001221,
                        "yaw": 179.6462860107422
                    }
                },
                "velocity": {
                    "x": -2.8644473552703857,
                    "y": 0.01757374219596386,
                    "z": 0.014599112793803215
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002470366656780243,
                "transform": {
                    "location": {
                        "x": 617.5989379882812,
                        "y": 4287.408203125,
                        "z": 370.1238098144531
                    },
                    "rotation": {
                        "roll": 0.0028823483735322952,
                        "pitch": 0.10071113705635071,
                        "yaw": -179.62265014648438
                    }
                },
                "velocity": {
                    "x": 0.0023639071732759476,
                    "y": -0.00047343497863039374,
                    "z": 0.0005389930447563529
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0590674877166748,
                "transform": {
                    "location": {
                        "x": 607.1361083984375,
                        "y": 4287.52685546875,
                        "z": 370.2108459472656
                    },
                    "rotation": {
                        "roll": -0.004180908203125,
                        "pitch": 0.3599099814891815,
                        "yaw": 179.69117736816406
                    }
                },
                "velocity": {
                    "x": -1.0590157508850098,
                    "y": -0.009530759416520596,
                    "z": 0.004337158054113388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.157862186431885,
                "transform": {
                    "location": {
                        "x": 675.0599975585938,
                        "y": 4290.27734375,
                        "z": 369.83026123046875
                    },
                    "rotation": {
                        "roll": -9.155271254712716e-05,
                        "pitch": 0.4032611846923828,
                        "yaw": 179.83993530273438
                    }
                },
                "velocity": {
                    "x": -6.157658576965332,
                    "y": 0.036911241710186005,
                    "z": 0.03390314802527428
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.259543418884277,
                "transform": {
                    "location": {
                        "x": 656.1664428710938,
                        "y": 4290.3876953125,
                        "z": 369.9342041015625
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.23339438438415527,
                        "yaw": 179.6697540283203
                    }
                },
                "velocity": {
                    "x": -8.259284973144531,
                    "y": 0.04773000255227089,
                    "z": 0.044578731060028076
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008275032043457,
                "transform": {
                    "location": {
                        "x": 636.3253173828125,
                        "y": 4290.50390625,
                        "z": 370.06854248046875
                    },
                    "rotation": {
                        "roll": 0.00035580951953306794,
                        "pitch": 0.2938210666179657,
                        "yaw": 179.64865112304688
                    }
                },
                "velocity": {
                    "x": -8.00802230834961,
                    "y": 0.04914966598153114,
                    "z": 0.04043901339173317
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44800,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.022501945495605,
                "transform": {
                    "location": {
                        "x": 617.8667602539062,
                        "y": 4290.61376953125,
                        "z": 370.1194763183594
                    },
                    "rotation": {
                        "roll": -0.0017700196476653218,
                        "pitch": 0.2747921645641327,
                        "yaw": 179.6361846923828
                    }
                },
                "velocity": {
                    "x": -8.02225399017334,
                    "y": 0.05069487914443016,
                    "z": 0.03743690252304077
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.14375756680965424,
        "expert_target_speed": 0,
        "target_point": [
            24.44341400912465,
            1.9496225314189126
        ],
        "target_point_next": [
            75.27759750369371,
            6.058535869525422
        ]
    },
    "260": {
        "acceleration": [
            1.2295722961425781,
            -0.06993472576141357,
            -0.008123591542243958
        ],
        "angular_velocity": [
            -0.07742903381586075,
            -0.4656792879104614,
            0.3072020709514618
        ],
        "forward_vector": [
            -0.9958093166351318,
            0.09131945669651031,
            0.004956462886184454
        ],
        "right_vector": [
            -0.09131638705730438,
            -0.9958215355873108,
            0.000842613575514406
        ],
        "location": [
            653.939453125,
            4287.328125,
            369.9373474121094
        ],
        "rotation": [
            -0.0482788011431694,
            0.28398558497428894,
            174.7604217529297
        ],
        "velocity": [
            -4.345871925354004,
            0.3996104300022125,
            0.02431233413517475
        ],
        "speed": 4.364205688020062,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 11.503143310546875,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.19578742980957,
                "transform": {
                    "location": {
                        "x": 590.2911987304688,
                        "y": 4297.39501953125,
                        "z": 370.2488098144531
                    },
                    "rotation": {
                        "roll": -0.007080077659338713,
                        "pitch": -0.2532019317150116,
                        "yaw": 0.1715373992919922
                    }
                },
                "velocity": {
                    "x": 8.195596694946289,
                    "y": 0.03828528895974159,
                    "z": -0.040777526795864105
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.752790451049805,
                "transform": {
                    "location": {
                        "x": 629.476806640625,
                        "y": 4297.248046875,
                        "z": 370.07025146484375
                    },
                    "rotation": {
                        "roll": 0.0010570248123258352,
                        "pitch": 0.12409087270498276,
                        "yaw": -0.2034606635570526
                    }
                },
                "velocity": {
                    "x": 7.75258207321167,
                    "y": -0.04160865768790245,
                    "z": -0.0387229397892952
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082937240600586,
                "transform": {
                    "location": {
                        "x": 632.595947265625,
                        "y": 4293.9794921875,
                        "z": 370.0483093261719
                    },
                    "rotation": {
                        "roll": 0.0012289115693420172,
                        "pitch": -0.2921203374862671,
                        "yaw": -0.33087158203125
                    }
                },
                "velocity": {
                    "x": 8.08268928527832,
                    "y": -0.047888074070215225,
                    "z": -0.04130661487579346
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075368881225586,
                "transform": {
                    "location": {
                        "x": 671.0894165039062,
                        "y": 4297.0009765625,
                        "z": 369.83843994140625
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": -0.3141203820705414,
                        "yaw": -0.3387451171875
                    }
                },
                "velocity": {
                    "x": 8.075102806091309,
                    "y": -0.047781217843294144,
                    "z": -0.04494722560048103
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031620979309082,
                "transform": {
                    "location": {
                        "x": 673.2223510742188,
                        "y": 4293.73779296875,
                        "z": 369.83319091796875
                    },
                    "rotation": {
                        "roll": 0.00012885808246210217,
                        "pitch": -0.3199738562107086,
                        "yaw": -0.3488770127296448
                    }
                },
                "velocity": {
                    "x": 8.031356811523438,
                    "y": -0.04693467170000076,
                    "z": -0.04510733485221863
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052655220031738,
                "transform": {
                    "location": {
                        "x": 714.48388671875,
                        "y": 4296.74658203125,
                        "z": 369.6014404296875
                    },
                    "rotation": {
                        "roll": 0.00045635298010893166,
                        "pitch": -0.3359086811542511,
                        "yaw": -0.365753173828125
                    }
                },
                "velocity": {
                    "x": 8.052376747131348,
                    "y": -0.049178291112184525,
                    "z": -0.04550637677311897
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042222023010254,
                "transform": {
                    "location": {
                        "x": 714.7481079101562,
                        "y": 4293.4951171875,
                        "z": 369.60150146484375
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": -0.33654388785362244,
                        "yaw": -0.35870361328125
                    }
                },
                "velocity": {
                    "x": 8.041934967041016,
                    "y": -0.05044852942228317,
                    "z": -0.045431025326251984
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.269815444946289,
                "transform": {
                    "location": {
                        "x": 592.0716552734375,
                        "y": 4294.15576171875,
                        "z": 370.25140380859375
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.25014883279800415,
                        "yaw": 0.32703423500061035
                    }
                },
                "velocity": {
                    "x": 8.269692420959473,
                    "y": 0.02982172928750515,
                    "z": -0.033775296062231064
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8505115509033203,
                "transform": {
                    "location": {
                        "x": 685.0220947265625,
                        "y": 4286.9697265625,
                        "z": 369.7668151855469
                    },
                    "rotation": {
                        "roll": 0.0013746770564466715,
                        "pitch": 0.24212336540222168,
                        "yaw": -179.88552856445312
                    }
                },
                "velocity": {
                    "x": -2.850463390350342,
                    "y": -0.007764900103211403,
                    "z": 0.014660014770925045
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.745702028274536,
                "transform": {
                    "location": {
                        "x": 671.0204467773438,
                        "y": 4287.05126953125,
                        "z": 369.8512268066406
                    },
                    "rotation": {
                        "roll": 0.0007492095464840531,
                        "pitch": 0.5817340016365051,
                        "yaw": 179.64634704589844
                    }
                },
                "velocity": {
                    "x": -3.7455763816833496,
                    "y": 0.023172037675976753,
                    "z": 0.020075691863894463
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.16328145563602448,
                "transform": {
                    "location": {
                        "x": 617.5873413085938,
                        "y": 4287.408203125,
                        "z": 370.1233215332031
                    },
                    "rotation": {
                        "roll": 0.0026883045211434364,
                        "pitch": 0.2542264461517334,
                        "yaw": -179.628662109375
                    }
                },
                "velocity": {
                    "x": -0.1632668673992157,
                    "y": -0.0013683902798220515,
                    "z": 0.0017004108522087336
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8559489250183105,
                "transform": {
                    "location": {
                        "x": 606.767822265625,
                        "y": 4287.5244140625,
                        "z": 370.2124938964844
                    },
                    "rotation": {
                        "roll": -0.0036621089093387127,
                        "pitch": 0.3641037046909332,
                        "yaw": 179.86074829101562
                    }
                },
                "velocity": {
                    "x": -1.855825424194336,
                    "y": -0.01976635679602623,
                    "z": 0.008234853856265545
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.6829833984375,
                "transform": {
                    "location": {
                        "x": 673.4693603515625,
                        "y": 4290.2861328125,
                        "z": 369.8399658203125
                    },
                    "rotation": {
                        "roll": 0.00026003026869148016,
                        "pitch": 0.28285178542137146,
                        "yaw": 179.765625
                    }
                },
                "velocity": {
                    "x": -6.682772636413574,
                    "y": 0.03812408819794655,
                    "z": 0.03693613037467003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.348608016967773,
                "transform": {
                    "location": {
                        "x": 653.880859375,
                        "y": 4290.4013671875,
                        "z": 369.9468688964844
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": 0.19080132246017456,
                        "yaw": 179.66448974609375
                    }
                },
                "velocity": {
                    "x": -9.348306655883789,
                    "y": 0.056822072714567184,
                    "z": 0.04902241751551628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04306697845459,
                "transform": {
                    "location": {
                        "x": 634.3187866210938,
                        "y": 4290.515625,
                        "z": 370.0787658691406
                    },
                    "rotation": {
                        "roll": 5.440636959974654e-05,
                        "pitch": 0.2927555441856384,
                        "yaw": 179.648193359375
                    }
                },
                "velocity": {
                    "x": -8.042816162109375,
                    "y": 0.04932517930865288,
                    "z": 0.04010764881968498
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.763066291809082,
                "transform": {
                    "location": {
                        "x": 689.9946899414062,
                        "y": 4290.2880859375,
                        "z": 370.0262756347656
                    },
                    "rotation": {
                        "roll": -1.0422210316995972e-10,
                        "pitch": 0.32562240958213806,
                        "yaw": 179.66160583496094
                    }
                },
                "velocity": {
                    "x": -4.538761138916016,
                    "y": 0.026806313544511795,
                    "z": -1.4442051649093628
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.09926734119653702,
        "expert_target_speed": 0,
        "target_point": [
            23.309309727553373,
            2.0752754849370265
        ],
        "target_point_next": [
            74.12280971535401,
            6.432522249738448
        ]
    },
    "265": {
        "acceleration": [
            1.661839485168457,
            -0.14526903629302979,
            -0.0108284130692482
        ],
        "angular_velocity": [
            0.03484594076871872,
            -0.30128681659698486,
            -0.5507923364639282
        ],
        "forward_vector": [
            -0.9957627058029175,
            0.0919012799859047,
            0.0032776533626019955
        ],
        "right_vector": [
            -0.09189978241920471,
            -0.9957680702209473,
            0.0006055994890630245
        ],
        "location": [
            652.9033203125,
            4287.42431640625,
            369.9432678222656
        ],
        "rotation": [
            -0.034698486328125,
            0.18779604136943817,
            174.7269744873047
        ],
        "velocity": [
            -3.949491262435913,
            0.36744996905326843,
            0.02097150683403015
        ],
        "speed": 3.966547706988392,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 10.48362922668457,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.995941638946533,
                "transform": {
                    "location": {
                        "x": 592.314208984375,
                        "y": 4297.4033203125,
                        "z": 370.2394714355469
                    },
                    "rotation": {
                        "roll": -0.0028076169546693563,
                        "pitch": -0.2578737735748291,
                        "yaw": 0.41094833612442017
                    }
                },
                "velocity": {
                    "x": 7.995791435241699,
                    "y": 0.03296288102865219,
                    "z": -0.03627876564860344
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.75412368774414,
                "transform": {
                    "location": {
                        "x": 631.630859375,
                        "y": 4297.236328125,
                        "z": 370.0610046386719
                    },
                    "rotation": {
                        "roll": 0.000669105735141784,
                        "pitch": -0.06546053290367126,
                        "yaw": -0.2063598483800888
                    }
                },
                "velocity": {
                    "x": 8.753875732421875,
                    "y": -0.048174697905778885,
                    "z": -0.044883329421281815
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05390739440918,
                "transform": {
                    "location": {
                        "x": 634.6132202148438,
                        "y": 4293.96728515625,
                        "z": 370.0380859375
                    },
                    "rotation": {
                        "roll": 8.372904994757846e-05,
                        "pitch": -0.29117095470428467,
                        "yaw": -0.338531494140625
                    }
                },
                "velocity": {
                    "x": 8.053665161132812,
                    "y": -0.04764915257692337,
                    "z": -0.04043121635913849
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.023780822753906,
                "transform": {
                    "location": {
                        "x": 673.1016845703125,
                        "y": 4296.9892578125,
                        "z": 369.8274230957031
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": -0.31715983152389526,
                        "yaw": -0.3408202826976776
                    }
                },
                "velocity": {
                    "x": 8.023505210876465,
                    "y": -0.04919853061437607,
                    "z": -0.04476111754775047
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029141426086426,
                "transform": {
                    "location": {
                        "x": 675.2298583984375,
                        "y": 4293.72607421875,
                        "z": 369.8221740722656
                    },
                    "rotation": {
                        "roll": 0.0003981941845268011,
                        "pitch": -0.320738822221756,
                        "yaw": -0.3211364150047302
                    }
                },
                "velocity": {
                    "x": 8.028882026672363,
                    "y": -0.046870097517967224,
                    "z": -0.04441968724131584
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05328369140625,
                "transform": {
                    "location": {
                        "x": 716.4970092773438,
                        "y": 4296.73486328125,
                        "z": 369.5897216796875
                    },
                    "rotation": {
                        "roll": 9.52333357417956e-05,
                        "pitch": -0.33459046483039856,
                        "yaw": -0.3402099311351776
                    }
                },
                "velocity": {
                    "x": 8.052990913391113,
                    "y": -0.050402846187353134,
                    "z": -0.04658951237797737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044978141784668,
                "transform": {
                    "location": {
                        "x": 716.7587890625,
                        "y": 4293.48388671875,
                        "z": 369.58978271484375
                    },
                    "rotation": {
                        "roll": 0.0012133090058341622,
                        "pitch": -0.3364551067352295,
                        "yaw": -0.35906982421875
                    }
                },
                "velocity": {
                    "x": 8.044692039489746,
                    "y": -0.05036956071853638,
                    "z": -0.045471739023923874
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.04955005645752,
                "transform": {
                    "location": {
                        "x": 594.1101684570312,
                        "y": 4294.16162109375,
                        "z": 370.2427978515625
                    },
                    "rotation": {
                        "roll": 0.014576580375432968,
                        "pitch": -0.2630237340927124,
                        "yaw": 0.17672108113765717
                    }
                },
                "velocity": {
                    "x": 8.049464225769043,
                    "y": 0.012489565648138523,
                    "z": -0.034968458116054535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2900424301624298,
                "transform": {
                    "location": {
                        "x": 684.8499755859375,
                        "y": 4286.97265625,
                        "z": 369.7677917480469
                    },
                    "rotation": {
                        "roll": 0.005304684396833181,
                        "pitch": 0.25236865878105164,
                        "yaw": -179.3672637939453
                    }
                },
                "velocity": {
                    "x": -0.2900331914424896,
                    "y": -0.001180543564260006,
                    "z": 0.0019932554569095373
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.8769097328186035,
                "transform": {
                    "location": {
                        "x": 669.942626953125,
                        "y": 4287.0576171875,
                        "z": 369.8573303222656
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": 0.565601110458374,
                        "yaw": 179.65133666992188
                    }
                },
                "velocity": {
                    "x": -4.876753807067871,
                    "y": 0.028559193015098572,
                    "z": 0.026574458926916122
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8494437336921692,
                "transform": {
                    "location": {
                        "x": 617.4479370117188,
                        "y": 4287.408203125,
                        "z": 370.12335205078125
                    },
                    "rotation": {
                        "roll": 0.007499633356928825,
                        "pitch": 0.457089900970459,
                        "yaw": -179.66343688964844
                    }
                },
                "velocity": {
                    "x": -0.8494383096694946,
                    "y": -0.00089909543748945,
                    "z": 0.0029014968313276768
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.94500994682312,
                "transform": {
                    "location": {
                        "x": 606.1648559570312,
                        "y": 4287.52001953125,
                        "z": 370.2151794433594
                    },
                    "rotation": {
                        "roll": -0.003021239535883069,
                        "pitch": 0.3846830725669861,
                        "yaw": -179.92620849609375
                    }
                },
                "velocity": {
                    "x": -2.944805145263672,
                    "y": -0.031878162175416946,
                    "z": 0.013761653564870358
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.117140769958496,
                "transform": {
                    "location": {
                        "x": 671.6765747070312,
                        "y": 4290.296875,
                        "z": 369.8507385253906
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.16861003637313843,
                        "yaw": 179.7312469482422
                    }
                },
                "velocity": {
                    "x": -8.116872787475586,
                    "y": 0.04857312887907028,
                    "z": 0.044679928570985794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.272043228149414,
                "transform": {
                    "location": {
                        "x": 651.677490234375,
                        "y": 4290.4140625,
                        "z": 369.95697021484375
                    },
                    "rotation": {
                        "roll": 4.4740289013134316e-05,
                        "pitch": 0.37708789110183716,
                        "yaw": 179.68289184570312
                    }
                },
                "velocity": {
                    "x": -8.271780967712402,
                    "y": 0.04876935854554176,
                    "z": 0.044308852404356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008533477783203,
                "transform": {
                    "location": {
                        "x": 632.312744140625,
                        "y": 4290.52734375,
                        "z": 370.0889892578125
                    },
                    "rotation": {
                        "roll": -0.00021362300321925431,
                        "pitch": 0.2928033769130707,
                        "yaw": 179.648193359375
                    }
                },
                "velocity": {
                    "x": -8.008280754089355,
                    "y": 0.04919736832380295,
                    "z": 0.040383413434028625
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.371438026428223,
                "transform": {
                    "location": {
                        "x": 688.8816528320312,
                        "y": 4290.29052734375,
                        "z": 369.6776123046875
                    },
                    "rotation": {
                        "roll": -0.0019836428109556437,
                        "pitch": 0.3212715983390808,
                        "yaw": 179.8232421875
                    }
                },
                "velocity": {
                    "x": -4.370195388793945,
                    "y": -0.022417588159441948,
                    "z": -0.10177910327911377
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.5239244699478149,
        "expert_target_speed": 0,
        "target_point": [
            22.267506386311585,
            2.0894416407659278
        ],
        "target_point_next": [
            73.07845461822473,
            6.476344894022158
        ]
    },
    "270": {
        "acceleration": [
            -0.38166046142578125,
            0.5416786670684814,
            0.0003610551357269287
        ],
        "angular_velocity": [
            0.3761134743690491,
            0.42745980620384216,
            -2.57464337348938
        ],
        "forward_vector": [
            -0.9951627254486084,
            0.09818574786186218,
            0.0032634674571454525
        ],
        "right_vector": [
            -0.09818887710571289,
            -0.9951674342155457,
            -0.0008135359385050833
        ],
        "location": [
            651.9575805664062,
            4287.521484375,
            369.9482727050781
        ],
        "rotation": [
            0.04661243036389351,
            0.18698324263095856,
            174.36526489257812
        ],
        "velocity": [
            -3.7349789142608643,
            0.44161278009414673,
            0.021211661398410797
        ],
        "speed": 3.7609957906804077,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 9.558338165283203,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.184430122375488,
                "transform": {
                    "location": {
                        "x": 594.3375854492188,
                        "y": 4297.41064453125,
                        "z": 370.23040771484375
                    },
                    "rotation": {
                        "roll": -0.0015869141789153218,
                        "pitch": -0.26086539030075073,
                        "yaw": 0.27213847637176514
                    }
                },
                "velocity": {
                    "x": 8.184325218200684,
                    "y": 0.01740611344575882,
                    "z": -0.0375637523829937
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.144185066223145,
                "transform": {
                    "location": {
                        "x": 633.7308959960938,
                        "y": 4297.22607421875,
                        "z": 370.0533142089844
                    },
                    "rotation": {
                        "roll": 0.001902275369502604,
                        "pitch": -0.4472953975200653,
                        "yaw": -0.3329772651195526
                    }
                },
                "velocity": {
                    "x": 8.143921852111816,
                    "y": -0.049142397940158844,
                    "z": -0.04311258718371391
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.082560539245605,
                "transform": {
                    "location": {
                        "x": 636.6302490234375,
                        "y": 4293.9560546875,
                        "z": 370.0278015136719
                    },
                    "rotation": {
                        "roll": 0.0003591714194044471,
                        "pitch": -0.29168322682380676,
                        "yaw": -0.34002685546875
                    }
                },
                "velocity": {
                    "x": 8.082311630249023,
                    "y": -0.04789559915661812,
                    "z": -0.04154166951775551
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.0764799118042,
                "transform": {
                    "location": {
                        "x": 675.1144409179688,
                        "y": 4296.9775390625,
                        "z": 369.8162536621094
                    },
                    "rotation": {
                        "roll": 0.00041041531949304044,
                        "pitch": -0.3161899447441101,
                        "yaw": -0.344635009765625
                    }
                },
                "velocity": {
                    "x": 8.076214790344238,
                    "y": -0.04700391739606857,
                    "z": -0.04555562883615494
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030616760253906,
                "transform": {
                    "location": {
                        "x": 677.2373046875,
                        "y": 4293.71435546875,
                        "z": 369.8110046386719
                    },
                    "rotation": {
                        "roll": 0.0002100669516948983,
                        "pitch": -0.32146966457366943,
                        "yaw": -0.3507995307445526
                    }
                },
                "velocity": {
                    "x": 8.030351638793945,
                    "y": -0.0471603088080883,
                    "z": -0.04500643163919449
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.052573204040527,
                "transform": {
                    "location": {
                        "x": 718.5101928710938,
                        "y": 4296.72314453125,
                        "z": 369.5780029296875
                    },
                    "rotation": {
                        "roll": -0.0010070804273709655,
                        "pitch": -0.3344402015209198,
                        "yaw": -0.370086669921875
                    }
                },
                "velocity": {
                    "x": 8.052290916442871,
                    "y": -0.04955890029668808,
                    "z": -0.04573789983987808
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.042027473449707,
                "transform": {
                    "location": {
                        "x": 718.7695922851562,
                        "y": 4293.4716796875,
                        "z": 369.57806396484375
                    },
                    "rotation": {
                        "roll": 0.0008385871187783778,
                        "pitch": -0.3361818790435791,
                        "yaw": -0.3590697944164276
                    }
                },
                "velocity": {
                    "x": 8.041741371154785,
                    "y": -0.050322793424129486,
                    "z": -0.0455092191696167
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.273909568786621,
                "transform": {
                    "location": {
                        "x": 596.1517944335938,
                        "y": 4294.16455078125,
                        "z": 370.2334289550781
                    },
                    "rotation": {
                        "roll": 0.004953863099217415,
                        "pitch": -0.26089954376220703,
                        "yaw": 0.049988266080617905
                    }
                },
                "velocity": {
                    "x": 8.273818969726562,
                    "y": 0.0038956718053668737,
                    "z": -0.038529157638549805
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1051185131072998,
                "transform": {
                    "location": {
                        "x": 684.6654663085938,
                        "y": 4286.97216796875,
                        "z": 369.76812744140625
                    },
                    "rotation": {
                        "roll": 0.0065674129873514175,
                        "pitch": 0.330007404088974,
                        "yaw": -179.38644409179688
                    }
                },
                "velocity": {
                    "x": -1.1050947904586792,
                    "y": 0.0030200998298823833,
                    "z": 0.006574230268597603
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.173616409301758,
                "transform": {
                    "location": {
                        "x": 668.679443359375,
                        "y": 4287.0654296875,
                        "z": 369.86566162109375
                    },
                    "rotation": {
                        "roll": 9.922144090523943e-05,
                        "pitch": 0.4120243191719055,
                        "yaw": 179.65353393554688
                    }
                },
                "velocity": {
                    "x": -5.17343807220459,
                    "y": 0.031166674569249153,
                    "z": 0.02959945611655712
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.7939671277999878,
                "transform": {
                    "location": {
                        "x": 617.1089477539062,
                        "y": 4287.4072265625,
                        "z": 370.1243591308594
                    },
                    "rotation": {
                        "roll": 0.009287797845900059,
                        "pitch": 0.602224588394165,
                        "yaw": -179.75181579589844
                    }
                },
                "velocity": {
                    "x": -1.7939485311508179,
                    "y": -0.0022252160124480724,
                    "z": 0.007872085087001324
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.4913578033447266,
                "transform": {
                    "location": {
                        "x": 605.4553833007812,
                        "y": 4287.51806640625,
                        "z": 370.219482421875
                    },
                    "rotation": {
                        "roll": 0.004949148278683424,
                        "pitch": 0.2691231071949005,
                        "yaw": -179.90037536621094
                    }
                },
                "velocity": {
                    "x": -2.4913156032562256,
                    "y": -0.0069411927834153175,
                    "z": 0.012717723846435547
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.276474952697754,
                "transform": {
                    "location": {
                        "x": 669.4855346679688,
                        "y": 4290.3095703125,
                        "z": 369.8627014160156
                    },
                    "rotation": {
                        "roll": 4.6907087380532175e-05,
                        "pitch": 0.18395064771175385,
                        "yaw": 179.6871337890625
                    }
                },
                "velocity": {
                    "x": -9.276190757751465,
                    "y": 0.053083036094903946,
                    "z": 0.04960515722632408
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.201807498931885,
                "transform": {
                    "location": {
                        "x": 649.6963500976562,
                        "y": 4290.42626953125,
                        "z": 369.9673767089844
                    },
                    "rotation": {
                        "roll": -6.103509440436028e-05,
                        "pitch": 0.4000851511955261,
                        "yaw": 179.7379150390625
                    }
                },
                "velocity": {
                    "x": -7.2015557289123535,
                    "y": 0.04580777883529663,
                    "z": 0.03907882422208786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044188499450684,
                "transform": {
                    "location": {
                        "x": 630.3060913085938,
                        "y": 4290.5390625,
                        "z": 370.09918212890625
                    },
                    "rotation": {
                        "roll": 0.0005103250732645392,
                        "pitch": 0.2937527596950531,
                        "yaw": 179.64805603027344
                    }
                },
                "velocity": {
                    "x": -8.043927192687988,
                    "y": 0.04938291385769844,
                    "z": 0.04201182350516319
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.3774566650390625,
                "transform": {
                    "location": {
                        "x": 687.7884521484375,
                        "y": 4290.28662109375,
                        "z": 369.7303161621094
                    },
                    "rotation": {
                        "roll": 0.0009747592266649008,
                        "pitch": 0.32300645112991333,
                        "yaw": -179.92660522460938
                    }
                },
                "velocity": {
                    "x": -4.372424602508545,
                    "y": -0.027388649061322212,
                    "z": 0.2080385535955429
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.8623778223991394,
        "expert_target_speed": 0,
        "target_point": [
            21.303161905056932,
            2.2338106230397816
        ],
        "target_point_next": [
            72.08540401468542,
            6.941386081666222
        ]
    },
    "275": {
        "acceleration": [
            -1.53411865234375,
            0.6060659885406494,
            0.00746116042137146
        ],
        "angular_velocity": [
            0.09927310049533844,
            0.5835678577423096,
            -5.284837245941162
        ],
        "forward_vector": [
            -0.9930832982063293,
            0.11725222319364548,
            0.006117544136941433
        ],
        "right_vector": [
            -0.11726585030555725,
            -0.9930986762046814,
            -0.0019171853782609105
        ],
        "location": [
            650.9832763671875,
            4287.650390625,
            369.9529724121094
        ],
        "rotation": [
            0.109848752617836,
            0.3505116403102875,
            173.26632690429688
        ],
        "velocity": [
            -4.065094470977783,
            0.6075876951217651,
            0.021352147683501244
        ],
        "speed": 4.110250097650692,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 8.615764617919922,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.984793186187744,
                "transform": {
                    "location": {
                        "x": 596.357666015625,
                        "y": 4297.41552734375,
                        "z": 370.22125244140625
                    },
                    "rotation": {
                        "roll": -0.00036621090839616954,
                        "pitch": -0.26120007038116455,
                        "yaw": 0.07874064147472382
                    }
                },
                "velocity": {
                    "x": 7.9847025871276855,
                    "y": 0.006907731760293245,
                    "z": -0.037360504269599915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.890570163726807,
                "transform": {
                    "location": {
                        "x": 635.7233276367188,
                        "y": 4297.21435546875,
                        "z": 370.0428466796875
                    },
                    "rotation": {
                        "roll": 0.002310620155185461,
                        "pitch": -0.40859556198120117,
                        "yaw": -0.3533324599266052
                    }
                },
                "velocity": {
                    "x": 7.890307903289795,
                    "y": -0.04959557577967644,
                    "z": -0.040958404541015625
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051937103271484,
                "transform": {
                    "location": {
                        "x": 638.6469116210938,
                        "y": 4293.9443359375,
                        "z": 370.0173645019531
                    },
                    "rotation": {
                        "roll": -0.0005798338679596782,
                        "pitch": -0.2985202372074127,
                        "yaw": -0.341217041015625
                    }
                },
                "velocity": {
                    "x": 8.051688194274902,
                    "y": -0.04869513958692551,
                    "z": -0.04037085548043251
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025003433227539,
                "transform": {
                    "location": {
                        "x": 677.126708984375,
                        "y": 4296.9658203125,
                        "z": 369.8051452636719
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.3184507191181183,
                        "yaw": -0.342437744140625
                    }
                },
                "velocity": {
                    "x": 8.02473258972168,
                    "y": -0.04799525812268257,
                    "z": -0.045259203761816025
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0304536819458,
                "transform": {
                    "location": {
                        "x": 679.2449340820312,
                        "y": 4293.703125,
                        "z": 369.79986572265625
                    },
                    "rotation": {
                        "roll": -0.00021362306142691523,
                        "pitch": -0.3243725001811981,
                        "yaw": -0.3282470405101776
                    }
                },
                "velocity": {
                    "x": 8.030182838439941,
                    "y": -0.04784613475203514,
                    "z": -0.045455202460289
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.05271053314209,
                "transform": {
                    "location": {
                        "x": 720.5234375,
                        "y": 4296.71142578125,
                        "z": 369.5662841796875
                    },
                    "rotation": {
                        "roll": 0.00037889002123847604,
                        "pitch": -0.33462461829185486,
                        "yaw": -0.3314514458179474
                    }
                },
                "velocity": {
                    "x": 8.052433967590332,
                    "y": -0.04913445934653282,
                    "z": -0.04527898132801056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044933319091797,
                "transform": {
                    "location": {
                        "x": 720.7803955078125,
                        "y": 4293.4599609375,
                        "z": 369.56640625
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": -0.3344128727912903,
                        "yaw": -0.3590697944164276
                    }
                },
                "velocity": {
                    "x": 8.044641494750977,
                    "y": -0.050559885799884796,
                    "z": -0.04619086533784866
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.053770065307617,
                "transform": {
                    "location": {
                        "x": 598.1915893554688,
                        "y": 4294.1630859375,
                        "z": 370.2240295410156
                    },
                    "rotation": {
                        "roll": 0.01381692010909319,
                        "pitch": -0.2685835063457489,
                        "yaw": -0.0750427097082138
                    }
                },
                "velocity": {
                    "x": 8.053665161132812,
                    "y": -0.018103182315826416,
                    "z": -0.036918338388204575
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9305907487869263,
                "transform": {
                    "location": {
                        "x": 684.2866821289062,
                        "y": 4286.97314453125,
                        "z": 369.7702331542969
                    },
                    "rotation": {
                        "roll": 0.0044114175252616405,
                        "pitch": 0.341400146484375,
                        "yaw": -179.5265655517578
                    }
                },
                "velocity": {
                    "x": -1.9305452108383179,
                    "y": 0.00886629894375801,
                    "z": 0.00984546635299921
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.2364702224731445,
                "transform": {
                    "location": {
                        "x": 667.3094482421875,
                        "y": 4287.07373046875,
                        "z": 369.872802734375
                    },
                    "rotation": {
                        "roll": -0.0004272459482308477,
                        "pitch": 0.4546993374824524,
                        "yaw": 179.65316772460938
                    }
                },
                "velocity": {
                    "x": -6.236261367797852,
                    "y": 0.03789574280381203,
                    "z": 0.03418135643005371
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.161492347717285,
                "transform": {
                    "location": {
                        "x": 616.584228515625,
                        "y": 4287.4072265625,
                        "z": 370.1270751953125
                    },
                    "rotation": {
                        "roll": 0.0064025502651929855,
                        "pitch": 0.5559090375900269,
                        "yaw": -179.8018035888672
                    }
                },
                "velocity": {
                    "x": -2.161470651626587,
                    "y": -0.002310695592314005,
                    "z": 0.00942122470587492
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1152310371398926,
                "transform": {
                    "location": {
                        "x": 604.905517578125,
                        "y": 4287.51611328125,
                        "z": 370.2225036621094
                    },
                    "rotation": {
                        "roll": 0.0030671514105051756,
                        "pitch": 0.23426181077957153,
                        "yaw": -179.88780212402344
                    }
                },
                "velocity": {
                    "x": -2.115203857421875,
                    "y": -0.00516749732196331,
                    "z": 0.00941049586981535
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.032200813293457,
                "transform": {
                    "location": {
                        "x": 667.1668701171875,
                        "y": 4290.3232421875,
                        "z": 369.8742370605469
                    },
                    "rotation": {
                        "roll": -0.0005798338097520173,
                        "pitch": 0.3092709481716156,
                        "yaw": 179.6719207763672
                    }
                },
                "velocity": {
                    "x": -9.031912803649902,
                    "y": 0.05359901860356331,
                    "z": 0.048250723630189896
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.410768985748291,
                "transform": {
                    "location": {
                        "x": 648.0491943359375,
                        "y": 4290.4375,
                        "z": 369.9761962890625
                    },
                    "rotation": {
                        "roll": 0.001091652549803257,
                        "pitch": 0.38731950521469116,
                        "yaw": 179.9021453857422
                    }
                },
                "velocity": {
                    "x": -6.410589218139648,
                    "y": 0.035048216581344604,
                    "z": 0.03287559375166893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006471633911133,
                "transform": {
                    "location": {
                        "x": 628.2999267578125,
                        "y": 4290.55126953125,
                        "z": 370.1092529296875
                    },
                    "rotation": {
                        "roll": 0.00023745409271214157,
                        "pitch": 0.2878788113594055,
                        "yaw": 179.6463623046875
                    }
                },
                "velocity": {
                    "x": -8.006209373474121,
                    "y": 0.050821736454963684,
                    "z": 0.040224913507699966
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.072723388671875,
                "transform": {
                    "location": {
                        "x": 686.6666870117188,
                        "y": 4290.27978515625,
                        "z": 369.75714111328125
                    },
                    "rotation": {
                        "roll": 0.0030628235545009375,
                        "pitch": 0.33609309792518616,
                        "yaw": -179.7733917236328
                    }
                },
                "velocity": {
                    "x": -5.072384357452393,
                    "y": -0.03384760394692421,
                    "z": 0.04789861664175987
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9998660683631897,
        "expert_target_speed": 0,
        "target_point": [
            20.273704035887487,
            2.65574174603881
        ],
        "target_point_next": [
            70.95632099452199,
            8.336385952809895
        ]
    },
    "280": {
        "acceleration": [
            -1.374959945678711,
            0.6496870517730713,
            0.018943436443805695
        ],
        "angular_velocity": [
            0.038439035415649414,
            0.17805568873882294,
            -5.361140727996826
        ],
        "forward_vector": [
            -0.9901286959648132,
            0.1399545818567276,
            0.007610843051224947
        ],
        "right_vector": [
            -0.1399732381105423,
            -0.9901533126831055,
            -0.0019736571703106165
        ],
        "location": [
            649.918212890625,
            4287.81787109375,
            369.95831298828125
        ],
        "rotation": [
            0.11308558285236359,
            0.4360733926296234,
            171.9545440673828
        ],
        "velocity": [
            -4.422512531280518,
            0.7631984353065491,
            0.022169657051563263
        ],
        "speed": 4.487882456235632,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 7.602733135223389,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.1731595993042,
                "transform": {
                    "location": {
                        "x": 598.3782958984375,
                        "y": 4297.4150390625,
                        "z": 370.2119445800781
                    },
                    "rotation": {
                        "roll": 0.00033819497912190855,
                        "pitch": -0.26614513993263245,
                        "yaw": -0.1103515550494194
                    }
                },
                "velocity": {
                    "x": 8.173049926757812,
                    "y": -0.018203647807240486,
                    "z": -0.03835635632276535
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.11507797241211,
                "transform": {
                    "location": {
                        "x": 637.7227783203125,
                        "y": 4297.201171875,
                        "z": 370.0311279296875
                    },
                    "rotation": {
                        "roll": 0.0026257464196532965,
                        "pitch": -0.24756018817424774,
                        "yaw": -0.39071646332740784
                    }
                },
                "velocity": {
                    "x": 8.114799499511719,
                    "y": -0.05304430425167084,
                    "z": -0.04126616567373276
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083836555480957,
                "transform": {
                    "location": {
                        "x": 640.6640625,
                        "y": 4293.9326171875,
                        "z": 370.0068664550781
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.30056247115135193,
                        "yaw": -0.342987060546875
                    }
                },
                "velocity": {
                    "x": 8.083587646484375,
                    "y": -0.04838563874363899,
                    "z": -0.041051480919122696
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.075338363647461,
                "transform": {
                    "location": {
                        "x": 679.1396484375,
                        "y": 4296.9541015625,
                        "z": 369.7939453125
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -0.32119646668434143,
                        "yaw": -0.342193603515625
                    }
                },
                "velocity": {
                    "x": 8.075063705444336,
                    "y": -0.048280078917741776,
                    "z": -0.045746829360723495
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029680252075195,
                "transform": {
                    "location": {
                        "x": 681.2523193359375,
                        "y": 4293.69091796875,
                        "z": 369.7886657714844
                    },
                    "rotation": {
                        "roll": 0.00021833796927239746,
                        "pitch": -0.3245773911476135,
                        "yaw": -0.355712890625
                    }
                },
                "velocity": {
                    "x": 8.02940845489502,
                    "y": -0.04823564365506172,
                    "z": -0.04511012136936188
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 722.6016845703125,
                        "y": 4296.6318359375,
                        "z": 369.5550231933594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 722.8511352539062,
                        "y": 4293.3486328125,
                        "z": 369.5539245605469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.27937126159668,
                "transform": {
                    "location": {
                        "x": 600.2342529296875,
                        "y": 4294.158203125,
                        "z": 370.2144470214844
                    },
                    "rotation": {
                        "roll": 0.007766390684992075,
                        "pitch": -0.2674838602542877,
                        "yaw": -0.1801452487707138
                    }
                },
                "velocity": {
                    "x": 8.27923583984375,
                    "y": -0.02835761196911335,
                    "z": -0.037925299257040024
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.6631200313568115,
                "transform": {
                    "location": {
                        "x": 683.709228515625,
                        "y": 4286.97412109375,
                        "z": 369.77349853515625
                    },
                    "rotation": {
                        "roll": 0.004792022984474897,
                        "pitch": 0.3403414785861969,
                        "yaw": -179.74176025390625
                    }
                },
                "velocity": {
                    "x": -2.6630477905273438,
                    "y": 0.013804342597723007,
                    "z": 0.013918723911046982
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.509700298309326,
                "transform": {
                    "location": {
                        "x": 665.571533203125,
                        "y": 4287.08349609375,
                        "z": 369.8804626464844
                    },
                    "rotation": {
                        "roll": -0.0007934566820040345,
                        "pitch": 0.6792486310005188,
                        "yaw": 179.62875366210938
                    }
                },
                "velocity": {
                    "x": -7.509463310241699,
                    "y": 0.04396895319223404,
                    "z": 0.04026443511247635
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.691794216632843,
                "transform": {
                    "location": {
                        "x": 616.3656005859375,
                        "y": 4287.4072265625,
                        "z": 370.13043212890625
                    },
                    "rotation": {
                        "roll": 0.003228305373340845,
                        "pitch": -0.06835652887821198,
                        "yaw": -179.8337860107422
                    }
                },
                "velocity": {
                    "x": -0.6917867660522461,
                    "y": 0.0004154682392254472,
                    "z": 0.003179998369887471
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0014021396636963,
                "transform": {
                    "location": {
                        "x": 604.2811279296875,
                        "y": 4287.51416015625,
                        "z": 370.2245178222656
                    },
                    "rotation": {
                        "roll": 0.002271484350785613,
                        "pitch": 0.3303557336330414,
                        "yaw": -179.8787384033203
                    }
                },
                "velocity": {
                    "x": -3.0013628005981445,
                    "y": -0.0077691045589745045,
                    "z": 0.013293161056935787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.213350296020508,
                "transform": {
                    "location": {
                        "x": 664.8878173828125,
                        "y": 4290.3369140625,
                        "z": 369.88677978515625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": 0.30046001076698303,
                        "yaw": 179.6693115234375
                    }
                },
                "velocity": {
                    "x": -9.213065147399902,
                    "y": 0.05315563455224037,
                    "z": 0.049363430589437485
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.904204368591309,
                "transform": {
                    "location": {
                        "x": 646.399658203125,
                        "y": 4290.4462890625,
                        "z": 369.98583984375
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": 0.2723742723464966,
                        "yaw": 179.7363739013672
                    }
                },
                "velocity": {
                    "x": -6.903995990753174,
                    "y": 0.04083367437124252,
                    "z": 0.034814927726984024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043651580810547,
                "transform": {
                    "location": {
                        "x": 626.2935180664062,
                        "y": 4290.5625,
                        "z": 370.1192932128906
                    },
                    "rotation": {
                        "roll": -0.0007934569148346782,
                        "pitch": 0.28485986590385437,
                        "yaw": 179.64447021484375
                    }
                },
                "velocity": {
                    "x": -8.043390274047852,
                    "y": 0.04994281753897667,
                    "z": 0.041337087750434875
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.053663730621338,
                "transform": {
                    "location": {
                        "x": 685.2565307617188,
                        "y": 4290.2734375,
                        "z": 369.7657470703125
                    },
                    "rotation": {
                        "roll": 0.004805350676178932,
                        "pitch": 0.34734243154525757,
                        "yaw": -179.74929809570312
                    }
                },
                "velocity": {
                    "x": -6.053574562072754,
                    "y": -0.013920275494456291,
                    "z": 0.02973083406686783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -1.0014222860336304,
        "expert_target_speed": 0,
        "target_point": [
            19.129571012563567,
            3.1359457954443664
        ],
        "target_point_next": [
            69.66885583223355,
            9.975395356327423
        ]
    },
    "285": {
        "acceleration": [
            -1.3327693939208984,
            0.6398153305053711,
            -0.0058756023645401
        ],
        "angular_velocity": [
            0.0438108965754509,
            0.0486815981566906,
            -4.943899631500244
        ],
        "forward_vector": [
            -0.9868068099021912,
            0.1617034524679184,
            0.008017215877771378
        ],
        "right_vector": [
            -0.1617211550474167,
            -0.9868351221084595,
            -0.0016061641508713365
        ],
        "location": [
            648.7664794921875,
            4288.02197265625,
            369.9642639160156
        ],
        "rotation": [
            0.09202942252159119,
            0.45935752987861633,
            170.69390869140625
        ],
        "velocity": [
            -4.766600608825684,
            0.9050821661949158,
            0.025459669530391693
        ],
        "speed": 4.851768243807762,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 6.537214279174805,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.973636627197266,
                "transform": {
                    "location": {
                        "x": 600.3956298828125,
                        "y": 4297.41015625,
                        "z": 370.20257568359375
                    },
                    "rotation": {
                        "roll": 0.0007277361582964659,
                        "pitch": -0.26934167742729187,
                        "yaw": -0.2331237941980362
                    }
                },
                "velocity": {
                    "x": 7.973500728607178,
                    "y": -0.028301438316702843,
                    "z": -0.03700437769293785
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.146099090576172,
                "transform": {
                    "location": {
                        "x": 639.7623901367188,
                        "y": 4297.1875,
                        "z": 370.0207214355469
                    },
                    "rotation": {
                        "roll": -0.0003051758976653218,
                        "pitch": -0.2626070976257324,
                        "yaw": -0.355926513671875
                    }
                },
                "velocity": {
                    "x": 8.14583683013916,
                    "y": -0.050884097814559937,
                    "z": -0.04100502282381058
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051436424255371,
                "transform": {
                    "location": {
                        "x": 642.6807861328125,
                        "y": 4293.92041015625,
                        "z": 369.9963684082031
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.29953110218048096,
                        "yaw": -0.3432616889476776
                    }
                },
                "velocity": {
                    "x": 8.05118465423584,
                    "y": -0.04818141460418701,
                    "z": -0.041692111641168594
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02396011352539,
                "transform": {
                    "location": {
                        "x": 681.15185546875,
                        "y": 4296.9423828125,
                        "z": 369.7826843261719
                    },
                    "rotation": {
                        "roll": -0.00042724606464616954,
                        "pitch": -0.32088908553123474,
                        "yaw": -0.34228515625
                    }
                },
                "velocity": {
                    "x": 8.023688316345215,
                    "y": -0.04791802912950516,
                    "z": -0.045499347150325775
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.031229972839355,
                "transform": {
                    "location": {
                        "x": 683.260009765625,
                        "y": 4293.67919921875,
                        "z": 369.7773742675781
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": -0.3242495656013489,
                        "yaw": -0.3266600966453552
                    }
                },
                "velocity": {
                    "x": 8.030961990356445,
                    "y": -0.04776833951473236,
                    "z": -0.044959329068660736
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 724.6845092773438,
                        "y": 4296.607421875,
                        "z": 369.5430908203125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 724.9339599609375,
                        "y": 4293.33447265625,
                        "z": 369.5418395996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.059013366699219,
                "transform": {
                    "location": {
                        "x": 602.275390625,
                        "y": 4294.150390625,
                        "z": 370.2049255371094
                    },
                    "rotation": {
                        "roll": 0.004794950131326914,
                        "pitch": -0.27163660526275635,
                        "yaw": -0.2319640964269638
                    }
                },
                "velocity": {
                    "x": 8.05884838104248,
                    "y": -0.035614561289548874,
                    "z": -0.037268366664648056
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.4206223487854004,
                "transform": {
                    "location": {
                        "x": 682.9431762695312,
                        "y": 4286.97607421875,
                        "z": 369.77777099609375
                    },
                    "rotation": {
                        "roll": 0.0030228521209210157,
                        "pitch": 0.3384017050266266,
                        "yaw": -179.95193481445312
                    }
                },
                "velocity": {
                    "x": -3.4205105304718018,
                    "y": 0.01995566114783287,
                    "z": 0.019166793674230576
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.2440338134765625,
                "transform": {
                    "location": {
                        "x": 663.9188842773438,
                        "y": 4287.0966796875,
                        "z": 369.8956604003906
                    },
                    "rotation": {
                        "roll": -0.0007629393367096782,
                        "pitch": -0.10077260434627533,
                        "yaw": 179.9168243408203
                    }
                },
                "velocity": {
                    "x": -4.243847846984863,
                    "y": 0.033912550657987595,
                    "z": 0.020673761144280434
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5297778844833374,
                "transform": {
                    "location": {
                        "x": 616.0672607421875,
                        "y": 4287.4072265625,
                        "z": 370.13018798828125
                    },
                    "rotation": {
                        "roll": 0.006916012614965439,
                        "pitch": 0.38800936937332153,
                        "yaw": -179.8817901611328
                    }
                },
                "velocity": {
                    "x": -1.5297625064849854,
                    "y": 0.003442901885136962,
                    "z": 0.00591634726151824
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.048067092895508,
                "transform": {
                    "location": {
                        "x": 603.3699951171875,
                        "y": 4287.51220703125,
                        "z": 370.228515625
                    },
                    "rotation": {
                        "roll": 0.0020246629137545824,
                        "pitch": 0.3770127594470978,
                        "yaw": -179.87144470214844
                    }
                },
                "velocity": {
                    "x": -4.0480146408081055,
                    "y": -0.010355996899306774,
                    "z": 0.0178567785769701
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.232664108276367,
                "transform": {
                    "location": {
                        "x": 662.7073364257812,
                        "y": 4290.349609375,
                        "z": 369.8979187011719
                    },
                    "rotation": {
                        "roll": -0.0007629392785020173,
                        "pitch": 0.37876129150390625,
                        "yaw": 179.6648712158203
                    }
                },
                "velocity": {
                    "x": -8.232401847839355,
                    "y": 0.04817298799753189,
                    "z": 0.04472927004098892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.260307312011719,
                "transform": {
                    "location": {
                        "x": 644.5692138671875,
                        "y": 4290.45654296875,
                        "z": 369.9962158203125
                    },
                    "rotation": {
                        "roll": 0.00020647277415264398,
                        "pitch": 0.1704951673746109,
                        "yaw": 179.73959350585938
                    }
                },
                "velocity": {
                    "x": -8.260039329528809,
                    "y": 0.050115976482629776,
                    "z": 0.04373548552393913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008343696594238,
                "transform": {
                    "location": {
                        "x": 624.287353515625,
                        "y": 4290.57421875,
                        "z": 370.1291809082031
                    },
                    "rotation": {
                        "roll": 0.00018767971778288484,
                        "pitch": 0.28477105498313904,
                        "yaw": 179.64454650878906
                    }
                },
                "velocity": {
                    "x": -8.008086204528809,
                    "y": 0.0497119165956974,
                    "z": 0.04062022268772125
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.505817890167236,
                "transform": {
                    "location": {
                        "x": 683.5584106445312,
                        "y": 4290.27001953125,
                        "z": 369.7745666503906
                    },
                    "rotation": {
                        "roll": 0.003488286631181836,
                        "pitch": 0.3532300293445587,
                        "yaw": -179.8743133544922
                    }
                },
                "velocity": {
                    "x": -7.505702495574951,
                    "y": -0.004869162570685148,
                    "z": 0.04129340127110481
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9996362924575806,
        "expert_target_speed": 0,
        "target_point": [
            17.886368809677997,
            3.571216066004731
        ],
        "target_point_next": [
            68.26295021343059,
            11.52089696844832
        ]
    },
    "290": {
        "acceleration": [
            -0.613861083984375,
            0.4867076873779297,
            -0.004706941545009613
        ],
        "angular_velocity": [
            -0.03623484447598457,
            -0.21928749978542328,
            -4.974486351013184
        ],
        "forward_vector": [
            -0.983378529548645,
            0.18141712248325348,
            0.007390670012682676
        ],
        "right_vector": [
            -0.181430384516716,
            -0.9834031462669373,
            -0.0011598108103498816
        ],
        "location": [
            647.541015625,
            4288.259765625,
            369.97113037109375
        ],
        "rotation": [
            0.06645409017801285,
            0.4234580397605896,
            169.54739379882812
        ],
        "velocity": [
            -4.962636470794678,
            1.0150781869888306,
            0.027698125690221786
        ],
        "speed": 5.0653869020008715,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 5.458413124084473,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.170698642730713,
                "transform": {
                    "location": {
                        "x": 602.3579711914062,
                        "y": 4297.40283203125,
                        "z": 370.1936340332031
                    },
                    "rotation": {
                        "roll": 2.508925535948947e-05,
                        "pitch": -0.29342490434646606,
                        "yaw": -0.2808227241039276
                    }
                },
                "velocity": {
                    "x": 7.170542240142822,
                    "y": -0.032793112099170685,
                    "z": -0.034186895936727524
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.041102409362793,
                "transform": {
                    "location": {
                        "x": 641.783203125,
                        "y": 4297.1748046875,
                        "z": 370.0107727050781
                    },
                    "rotation": {
                        "roll": 0.0011515992227941751,
                        "pitch": -0.3320291340351105,
                        "yaw": -0.3729553520679474
                    }
                },
                "velocity": {
                    "x": 8.040838241577148,
                    "y": -0.050644196569919586,
                    "z": -0.040957048535346985
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084169387817383,
                "transform": {
                    "location": {
                        "x": 644.697998046875,
                        "y": 4293.9091796875,
                        "z": 369.9858093261719
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": -0.29980430006980896,
                        "yaw": -0.344696044921875
                    }
                },
                "velocity": {
                    "x": 8.083907127380371,
                    "y": -0.04986046627163887,
                    "z": -0.04193410649895668
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.077252388000488,
                "transform": {
                    "location": {
                        "x": 683.1644897460938,
                        "y": 4296.9306640625,
                        "z": 369.7713928222656
                    },
                    "rotation": {
                        "roll": 0.00020355716696940362,
                        "pitch": -0.3208003044128418,
                        "yaw": -0.3440551161766052
                    }
                },
                "velocity": {
                    "x": 8.076970100402832,
                    "y": -0.050019893795251846,
                    "z": -0.045301251113414764
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029836654663086,
                "transform": {
                    "location": {
                        "x": 685.267333984375,
                        "y": 4293.66748046875,
                        "z": 369.76611328125
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": -0.32855257391929626,
                        "yaw": -0.3518066108226776
                    }
                },
                "velocity": {
                    "x": 8.02957534790039,
                    "y": -0.047004178166389465,
                    "z": -0.04449845850467682
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44914,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 726.7673950195312,
                        "y": 4296.583984375,
                        "z": 369.5310974121094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 44913,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 727.016845703125,
                        "y": 4293.3212890625,
                        "z": 369.52972412109375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.284147262573242,
                "transform": {
                    "location": {
                        "x": 604.3193969726562,
                        "y": 4294.14111328125,
                        "z": 370.1953125
                    },
                    "rotation": {
                        "roll": 0.0036753728054463863,
                        "pitch": -0.27081015706062317,
                        "yaw": -0.27841177582740784
                    }
                },
                "velocity": {
                    "x": 8.283953666687012,
                    "y": -0.04168381914496422,
                    "z": -0.03834663704037666
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.130992889404297,
                "transform": {
                    "location": {
                        "x": 681.99609375,
                        "y": 4286.98046875,
                        "z": 369.7831115722656
                    },
                    "rotation": {
                        "roll": 0.0029725520871579647,
                        "pitch": 0.33763670921325684,
                        "yaw": 179.87586975097656
                    }
                },
                "velocity": {
                    "x": -4.130849361419678,
                    "y": 0.025876929983496666,
                    "z": 0.022698555141687393
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0878584086894989,
                "transform": {
                    "location": {
                        "x": 663.603759765625,
                        "y": 4287.10107421875,
                        "z": 369.9046936035156
                    },
                    "rotation": {
                        "roll": -0.021850578486919403,
                        "pitch": -1.023893117904663,
                        "yaw": -179.9615936279297
                    }
                },
                "velocity": {
                    "x": -0.08784942328929901,
                    "y": 0.0008335358579643071,
                    "z": -0.0009402846917510033
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.3097612857818604,
                "transform": {
                    "location": {
                        "x": 615.5642700195312,
                        "y": 4287.40771484375,
                        "z": 370.1319580078125
                    },
                    "rotation": {
                        "roll": 0.007666627410799265,
                        "pitch": 0.5673633217811584,
                        "yaw": -179.953857421875
                    }
                },
                "velocity": {
                    "x": -2.3097329139709473,
                    "y": 0.00518774101510644,
                    "z": 0.010248241014778614
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.719334840774536,
                "transform": {
                    "location": {
                        "x": 602.4066162109375,
                        "y": 4287.5107421875,
                        "z": 370.23388671875
                    },
                    "rotation": {
                        "roll": 0.0025886993389576674,
                        "pitch": 0.27074185013771057,
                        "yaw": -179.86558532714844
                    }
                },
                "velocity": {
                    "x": -3.71927809715271,
                    "y": -0.009958023205399513,
                    "z": 0.017953090369701385
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.263372421264648,
                "transform": {
                    "location": {
                        "x": 660.9537353515625,
                        "y": 4290.35986328125,
                        "z": 369.9066467285156
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": 0.4756338596343994,
                        "yaw": 179.66578674316406
                    }
                },
                "velocity": {
                    "x": -6.263172626495361,
                    "y": 0.036760374903678894,
                    "z": 0.03391160070896149
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.365238189697266,
                "transform": {
                    "location": {
                        "x": 642.4351196289062,
                        "y": 4290.46875,
                        "z": 370.0066223144531
                    },
                    "rotation": {
                        "roll": 0.0011157342232763767,
                        "pitch": 0.2562618553638458,
                        "yaw": 179.66595458984375
                    }
                },
                "velocity": {
                    "x": -8.364968299865723,
                    "y": 0.050751157104969025,
                    "z": 0.04401575028896332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042835235595703,
                "transform": {
                    "location": {
                        "x": 622.2808837890625,
                        "y": 4290.5869140625,
                        "z": 370.1390686035156
                    },
                    "rotation": {
                        "roll": 0.0008506488520652056,
                        "pitch": 0.2852628231048584,
                        "yaw": 179.6410369873047
                    }
                },
                "velocity": {
                    "x": -8.042574882507324,
                    "y": 0.050301045179367065,
                    "z": 0.04057331010699272
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.412534713745117,
                "transform": {
                    "location": {
                        "x": 681.594970703125,
                        "y": 4290.26904296875,
                        "z": 369.7855529785156
                    },
                    "rotation": {
                        "roll": 0.0033559687435626984,
                        "pitch": 0.3450133204460144,
                        "yaw": -179.9766082763672
                    }
                },
                "velocity": {
                    "x": -8.412405014038086,
                    "y": 0.0002921604609582573,
                    "z": 0.04678087309002876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9990221261978149,
        "expert_target_speed": 0,
        "target_point": [
            16.563062377916758,
            3.939912767379313
        ],
        "target_point_next": [
            66.77049200308697,
            12.895993987040459
        ]
    },
    "295": {
        "acceleration": [
            1.4021778106689453,
            -0.19675731658935547,
            -0.004843361675739288
        ],
        "angular_velocity": [
            -0.3357577919960022,
            -0.5669914484024048,
            -0.3489569127559662
        ],
        "forward_vector": [
            -0.9801856279373169,
            0.19799038767814636,
            0.005996429827064276
        ],
        "right_vector": [
            -0.19799917936325073,
            -0.980201780796051,
            -0.0009055086993612349
        ],
        "location": [
            646.3009033203125,
            4288.52001953125,
            369.9779968261719
        ],
        "rotation": [
            0.05188276618719101,
            0.3435721695423126,
            168.580322265625
        ],
        "velocity": [
            -4.8954596519470215,
            1.071366310119629,
            0.025494230911135674
        ],
        "speed": 5.011322278032076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 4.467984199523926,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.666073799133301,
                "transform": {
                    "location": {
                        "x": 604.0512084960938,
                        "y": 4297.39501953125,
                        "z": 370.18560791015625
                    },
                    "rotation": {
                        "roll": 0.0002979298587888479,
                        "pitch": -0.29412841796875,
                        "yaw": -0.299774169921875
                    }
                },
                "velocity": {
                    "x": 6.66591215133667,
                    "y": -0.03352542594075203,
                    "z": -0.03206882253289223
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06116771697998,
                "transform": {
                    "location": {
                        "x": 643.7938232421875,
                        "y": 4297.1630859375,
                        "z": 370.0
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": -0.30963295698165894,
                        "yaw": -0.34100341796875
                    }
                },
                "velocity": {
                    "x": 8.060914993286133,
                    "y": -0.048890285193920135,
                    "z": -0.041156817227602005
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05160903930664,
                "transform": {
                    "location": {
                        "x": 646.7147827148438,
                        "y": 4293.8974609375,
                        "z": 369.97515869140625
                    },
                    "rotation": {
                        "roll": 0.0002585762122180313,
                        "pitch": -0.30209243297576904,
                        "yaw": -0.3506164252758026
                    }
                },
                "velocity": {
                    "x": 8.051349639892578,
                    "y": -0.04928938299417496,
                    "z": -0.04190545156598091
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02496337890625,
                "transform": {
                    "location": {
                        "x": 685.1769409179688,
                        "y": 4296.91943359375,
                        "z": 369.7601013183594
                    },
                    "rotation": {
                        "roll": 0.0004585126298479736,
                        "pitch": -0.32378509640693665,
                        "yaw": -0.3464355170726776
                    }
                },
                "velocity": {
                    "x": 8.024690628051758,
                    "y": -0.04853826016187668,
                    "z": -0.04496659338474274
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.029763221740723,
                "transform": {
                    "location": {
                        "x": 687.274658203125,
                        "y": 4293.65625,
                        "z": 369.7547607421875
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": -0.32824522256851196,
                        "yaw": -0.3269653022289276
                    }
                },
                "velocity": {
                    "x": 8.029495239257812,
                    "y": -0.04771629348397255,
                    "z": -0.04509437829256058
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064414024353027,
                "transform": {
                    "location": {
                        "x": 606.3617553710938,
                        "y": 4294.1318359375,
                        "z": 370.1856994628906
                    },
                    "rotation": {
                        "roll": 0.0001864829391706735,
                        "pitch": -0.2743208706378937,
                        "yaw": -0.2938232123851776
                    }
                },
                "velocity": {
                    "x": 8.06422233581543,
                    "y": -0.04089730232954025,
                    "z": -0.037542350590229034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.880842208862305,
                "transform": {
                    "location": {
                        "x": 680.8670043945312,
                        "y": 4286.9873046875,
                        "z": 369.78948974609375
                    },
                    "rotation": {
                        "roll": 0.0016507877735421062,
                        "pitch": 0.33810117840766907,
                        "yaw": 179.75216674804688
                    }
                },
                "velocity": {
                    "x": -4.88067626953125,
                    "y": 0.03082174062728882,
                    "z": 0.025874709710478783
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7920420169830322,
                "transform": {
                    "location": {
                        "x": 663.4599609375,
                        "y": 4287.10107421875,
                        "z": 369.8946533203125
                    },
                    "rotation": {
                        "roll": -0.0020446775015443563,
                        "pitch": 0.2962389588356018,
                        "yaw": -179.97901916503906
                    }
                },
                "velocity": {
                    "x": -0.7920175790786743,
                    "y": 0.002752911765128374,
                    "z": 0.005583419464528561
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.005775883328169584,
                "transform": {
                    "location": {
                        "x": 615.2542724609375,
                        "y": 4287.40869140625,
                        "z": 370.1363220214844
                    },
                    "rotation": {
                        "roll": -0.0016784666804596782,
                        "pitch": -0.23394761979579926,
                        "yaw": -179.98907470703125
                    }
                },
                "velocity": {
                    "x": -0.00575221749022603,
                    "y": 0.0001404310023644939,
                    "z": 0.000503091374412179
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.638128280639648,
                "transform": {
                    "location": {
                        "x": 601.3685302734375,
                        "y": 4287.5078125,
                        "z": 370.2381286621094
                    },
                    "rotation": {
                        "roll": 0.0016353338724002242,
                        "pitch": 0.3392554819583893,
                        "yaw": -179.85736083984375
                    }
                },
                "velocity": {
                    "x": -4.6380615234375,
                    "y": -0.012838046066462994,
                    "z": 0.02130422554910183
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.378971576690674,
                "transform": {
                    "location": {
                        "x": 659.3951416015625,
                        "y": 4290.36962890625,
                        "z": 369.91619873046875
                    },
                    "rotation": {
                        "roll": 4.478780101635493e-05,
                        "pitch": 0.3310592472553253,
                        "yaw": 179.66635131835938
                    }
                },
                "velocity": {
                    "x": -6.378774166107178,
                    "y": 0.037137679755687714,
                    "z": 0.03374733775854111
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.855147361755371,
                "transform": {
                    "location": {
                        "x": 640.4202880859375,
                        "y": 4290.48046875,
                        "z": 370.01654052734375
                    },
                    "rotation": {
                        "roll": 0.0006840636488050222,
                        "pitch": 0.33871588110923767,
                        "yaw": 179.68179321289062
                    }
                },
                "velocity": {
                    "x": -7.854902744293213,
                    "y": 0.046391747891902924,
                    "z": 0.04116912931203842
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00826644897461,
                "transform": {
                    "location": {
                        "x": 620.2748413085938,
                        "y": 4290.5986328125,
                        "z": 370.14892578125
                    },
                    "rotation": {
                        "roll": -0.0002746581449173391,
                        "pitch": 0.28230535984039307,
                        "yaw": 179.6404266357422
                    }
                },
                "velocity": {
                    "x": -8.008011817932129,
                    "y": 0.050333503633737564,
                    "z": 0.03929203748703003
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.4733247756958,
                "transform": {
                    "location": {
                        "x": 679.3388061523438,
                        "y": 4290.27099609375,
                        "z": 369.79815673828125
                    },
                    "rotation": {
                        "roll": 0.002701821271330118,
                        "pitch": 0.3467823565006256,
                        "yaw": 179.90899658203125
                    }
                },
                "velocity": {
                    "x": -9.47314453125,
                    "y": 0.02318195439875126,
                    "z": 0.053564175963401794
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9991787075996399,
        "expert_target_speed": 0,
        "target_point": [
            15.227117274775118,
            4.228459611950086
        ],
        "target_point_next": [
            65.27624103535906,
            14.03063239033652
        ]
    },
    "300": {
        "acceleration": [
            0.8159351348876953,
            -0.6427645683288574,
            -0.008823610842227936
        ],
        "angular_velocity": [
            -0.5652354955673218,
            -0.368241548538208,
            1.4637006521224976
        ],
        "forward_vector": [
            -0.9795048832893372,
            0.20134493708610535,
            0.005512447562068701
        ],
        "right_vector": [
            -0.20133832097053528,
            -0.9795202612876892,
            0.001735288300551474
        ],
        "location": [
            645.0414428710938,
            4288.783203125,
            369.9846496582031
        ],
        "rotation": [
            -0.0994262546300888,
            0.31584158539772034,
            168.3842010498047
        ],
        "velocity": [
            -4.97345495223999,
            0.990166425704956,
            0.024999426677823067
        ],
        "speed": 5.071063370985795,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 3.6413028240203857,
        "front_vehicle_info": {
            "id": 44795,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                642.4937744140625,
                4286.181640625,
                370.0032043457031
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "159,0,0"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.402307987213135,
                "transform": {
                    "location": {
                        "x": 605.7984008789062,
                        "y": 4297.3857421875,
                        "z": 370.1769104003906
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.25506657361984253,
                        "yaw": -0.3128661513328552
                    }
                },
                "velocity": {
                    "x": 7.40212345123291,
                    "y": -0.04016004875302315,
                    "z": -0.03345612809062004
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.099591255187988,
                "transform": {
                    "location": {
                        "x": 645.815673828125,
                        "y": 4297.1513671875,
                        "z": 369.9892578125
                    },
                    "rotation": {
                        "roll": 0.00013278576079756021,
                        "pitch": -0.28762608766555786,
                        "yaw": -0.3616942763328552
                    }
                },
                "velocity": {
                    "x": 8.099336624145508,
                    "y": -0.049406807869672775,
                    "z": -0.041153158992528915
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08417797088623,
                "transform": {
                    "location": {
                        "x": 648.7318725585938,
                        "y": 4293.8857421875,
                        "z": 369.9645080566406
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": -0.3049064576625824,
                        "yaw": -0.3514404296875
                    }
                },
                "velocity": {
                    "x": 8.083914756774902,
                    "y": -0.04960791394114494,
                    "z": -0.04231100156903267
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07614803314209,
                "transform": {
                    "location": {
                        "x": 687.189697265625,
                        "y": 4296.9072265625,
                        "z": 369.748779296875
                    },
                    "rotation": {
                        "roll": 0.0007678466499783099,
                        "pitch": -0.32388073205947876,
                        "yaw": -0.350677490234375
                    }
                },
                "velocity": {
                    "x": 8.07586669921875,
                    "y": -0.049501750618219376,
                    "z": -0.045918453484773636
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030776977539062,
                "transform": {
                    "location": {
                        "x": 689.2821655273438,
                        "y": 4293.64404296875,
                        "z": 369.7434387207031
                    },
                    "rotation": {
                        "roll": 0.0010943412780761719,
                        "pitch": -0.32851842045783997,
                        "yaw": -0.3609618544578552
                    }
                },
                "velocity": {
                    "x": 8.030499458312988,
                    "y": -0.04880151152610779,
                    "z": -0.04554004222154617
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.289405822753906,
                "transform": {
                    "location": {
                        "x": 608.4072265625,
                        "y": 4294.12060546875,
                        "z": 370.17596435546875
                    },
                    "rotation": {
                        "roll": 0.002713724272325635,
                        "pitch": -0.2702295780181885,
                        "yaw": -0.3135986030101776
                    }
                },
                "velocity": {
                    "x": 8.28918743133545,
                    "y": -0.046474482864141464,
                    "z": -0.038237154483795166
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.329194068908691,
                "transform": {
                    "location": {
                        "x": 679.5740356445312,
                        "y": 4286.994140625,
                        "z": 369.79693603515625
                    },
                    "rotation": {
                        "roll": 0.0003630768624134362,
                        "pitch": 0.33243894577026367,
                        "yaw": 179.6859588623047
                    }
                },
                "velocity": {
                    "x": -5.329006195068359,
                    "y": 0.03369472548365593,
                    "z": 0.029444875195622444
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8509489893913269,
                "transform": {
                    "location": {
                        "x": 663.2393798828125,
                        "y": 4287.10205078125,
                        "z": 369.89410400390625
                    },
                    "rotation": {
                        "roll": 0.005227003246545792,
                        "pitch": 0.5292576551437378,
                        "yaw": 179.99835205078125
                    }
                },
                "velocity": {
                    "x": -0.850919246673584,
                    "y": 0.004179284907877445,
                    "z": 0.005757331848144531
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0781006813049316,
                "transform": {
                    "location": {
                        "x": 615.0941162109375,
                        "y": 4287.408203125,
                        "z": 370.1353454589844
                    },
                    "rotation": {
                        "roll": 0.000340065365890041,
                        "pitch": 0.24406996369361877,
                        "yaw": 179.93365478515625
                    }
                },
                "velocity": {
                    "x": -1.078086018562317,
                    "y": 0.0028072884306311607,
                    "z": 0.00488296477124095
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.357902526855469,
                "transform": {
                    "location": {
                        "x": 600.2408447265625,
                        "y": 4287.5078125,
                        "z": 370.2439880371094
                    },
                    "rotation": {
                        "roll": 0.0054931240156292915,
                        "pitch": 0.2695738971233368,
                        "yaw": -179.94186401367188
                    }
                },
                "velocity": {
                    "x": -4.357848167419434,
                    "y": 0.006712826434522867,
                    "z": 0.020706623792648315
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.672741413116455,
                "transform": {
                    "location": {
                        "x": 657.8694458007812,
                        "y": 4290.37841796875,
                        "z": 369.92413330078125
                    },
                    "rotation": {
                        "roll": -0.0012207028921693563,
                        "pitch": 0.3560987114906311,
                        "yaw": 179.6661376953125
                    }
                },
                "velocity": {
                    "x": -5.672557830810547,
                    "y": 0.033032115548849106,
                    "z": 0.031501177698373795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03797721862793,
                "transform": {
                    "location": {
                        "x": 638.442138671875,
                        "y": 4290.4921875,
                        "z": 370.02728271484375
                    },
                    "rotation": {
                        "roll": 5.899086318095215e-05,
                        "pitch": 0.2903376519680023,
                        "yaw": 179.6384735107422
                    }
                },
                "velocity": {
                    "x": -8.037717819213867,
                    "y": 0.049949973821640015,
                    "z": 0.041098956018686295
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04443359375,
                "transform": {
                    "location": {
                        "x": 618.2682495117188,
                        "y": 4290.6103515625,
                        "z": 370.15875244140625
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.27614453434944153,
                        "yaw": 179.64418029785156
                    }
                },
                "velocity": {
                    "x": -8.044187545776367,
                    "y": 0.04988662526011467,
                    "z": 0.03834113851189613
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.122562408447266,
                "transform": {
                    "location": {
                        "x": 677.0220336914062,
                        "y": 4290.27685546875,
                        "z": 369.8112487792969
                    },
                    "rotation": {
                        "roll": 0.001452167285606265,
                        "pitch": 0.31546592712402344,
                        "yaw": 179.81155395507812
                    }
                },
                "velocity": {
                    "x": -9.12236213684082,
                    "y": 0.030904574319720268,
                    "z": 0.05189700797200203
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9336941838264465,
        "expert_target_speed": 0,
        "target_point": [
            13.925895262441122,
            4.284764629241915
        ],
        "target_point_next": [
            63.94117090649445,
            14.258208499287678
        ]
    },
    "305": {
        "acceleration": [
            0.7151603698730469,
            -0.3510141372680664,
            0.0040862709283828735
        ],
        "angular_velocity": [
            0.0706196129322052,
            0.15891696512699127,
            2.2039010524749756
        ],
        "forward_vector": [
            -0.9814060926437378,
            0.19181865453720093,
            0.006902162451297045
        ],
        "right_vector": [
            -0.19180600345134735,
            -0.9814298152923584,
            0.0024580357130616903
        ],
        "location": [
            643.7706298828125,
            4289.02783203125,
            369.9908752441406
        ],
        "rotation": [
            -0.14083857834339142,
            0.39546793699264526,
            168.9407958984375
        ],
        "velocity": [
            -5.299404621124268,
            0.9835355281829834,
            0.028715990483760834
        ],
        "speed": 5.389900877900392,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 7.497808456420898,
        "front_vehicle_info": {
            "id": 44802,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                636.4197998046875,
                4290.50439453125,
                370.03765869140625
            ],
            "velocity": [
                -8.074773788452148,
                0.04865410178899765,
                0.04113815352320671
            ],
            "speed_kmh": 29.070090569164933,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.364838600158691,
                "transform": {
                    "location": {
                        "x": 607.7371215820312,
                        "y": 4297.375,
                        "z": 370.167724609375
                    },
                    "rotation": {
                        "roll": 0.00019734224770218134,
                        "pitch": -0.24426120519638062,
                        "yaw": -0.3238525092601776
                    }
                },
                "velocity": {
                    "x": 8.364609718322754,
                    "y": -0.047966159880161285,
                    "z": -0.0390862412750721
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07731819152832,
                "transform": {
                    "location": {
                        "x": 647.8379516601562,
                        "y": 4297.1396484375,
                        "z": 369.9787292480469
                    },
                    "rotation": {
                        "roll": -0.0010375975398346782,
                        "pitch": -0.3072150647640228,
                        "yaw": -0.3346251845359802
                    }
                },
                "velocity": {
                    "x": 8.077064514160156,
                    "y": -0.04907428100705147,
                    "z": -0.04111471027135849
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05203628540039,
                "transform": {
                    "location": {
                        "x": 650.7487182617188,
                        "y": 4293.8740234375,
                        "z": 369.9537658691406
                    },
                    "rotation": {
                        "roll": -6.103525083744898e-05,
                        "pitch": -0.30383411049842834,
                        "yaw": -0.3516845703125
                    }
                },
                "velocity": {
                    "x": 8.051775932312012,
                    "y": -0.04937513545155525,
                    "z": -0.041894931346178055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024995803833008,
                "transform": {
                    "location": {
                        "x": 689.2020263671875,
                        "y": 4296.8955078125,
                        "z": 369.7374572753906
                    },
                    "rotation": {
                        "roll": 0.00024326620041392744,
                        "pitch": -0.32412660121917725,
                        "yaw": -0.3478698432445526
                    }
                },
                "velocity": {
                    "x": 8.024723052978516,
                    "y": -0.04871152341365814,
                    "z": -0.04479863867163658
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030050277709961,
                "transform": {
                    "location": {
                        "x": 691.2897338867188,
                        "y": 4293.63232421875,
                        "z": 369.73199462890625
                    },
                    "rotation": {
                        "roll": 0.00027871373458765447,
                        "pitch": -0.3307177424430847,
                        "yaw": -0.3295898139476776
                    }
                },
                "velocity": {
                    "x": 8.029780387878418,
                    "y": -0.047985270619392395,
                    "z": -0.04503427818417549
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.070001602172852,
                "transform": {
                    "location": {
                        "x": 610.4509887695312,
                        "y": 4294.10888671875,
                        "z": 370.16632080078125
                    },
                    "rotation": {
                        "roll": 0.0007563410908915102,
                        "pitch": -0.27493560314178467,
                        "yaw": -0.3231505751609802
                    }
                },
                "velocity": {
                    "x": 8.06978702545166,
                    "y": -0.04535569250583649,
                    "z": -0.03748202323913574
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.14096736907959,
                "transform": {
                    "location": {
                        "x": 678.1168823242188,
                        "y": 4287.00341796875,
                        "z": 369.8049621582031
                    },
                    "rotation": {
                        "roll": 0.0006266211275942624,
                        "pitch": 0.3378552794456482,
                        "yaw": 179.66061401367188
                    }
                },
                "velocity": {
                    "x": -6.140748023986816,
                    "y": 0.039652012288570404,
                    "z": 0.033540382981300354
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1899629831314087,
                "transform": {
                    "location": {
                        "x": 663.0111083984375,
                        "y": 4287.1025390625,
                        "z": 369.8969421386719
                    },
                    "rotation": {
                        "roll": 0.002030061325058341,
                        "pitch": 0.3556888997554779,
                        "yaw": 179.93524169921875
                    }
                },
                "velocity": {
                    "x": -1.1899361610412598,
                    "y": 0.005431017838418484,
                    "z": 0.00586296059191227
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.85770583152771,
                "transform": {
                    "location": {
                        "x": 614.7266845703125,
                        "y": 4287.4091796875,
                        "z": 370.1361389160156
                    },
                    "rotation": {
                        "roll": 0.0025234243366867304,
                        "pitch": 0.5062536001205444,
                        "yaw": 179.91856384277344
                    }
                },
                "velocity": {
                    "x": -1.8576842546463013,
                    "y": 0.0050331479869782925,
                    "z": 0.007420082110911608
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.346426486968994,
                "transform": {
                    "location": {
                        "x": 599.123291015625,
                        "y": 4287.50927734375,
                        "z": 370.2492370605469
                    },
                    "rotation": {
                        "roll": 0.0034603183157742023,
                        "pitch": 0.26488837599754333,
                        "yaw": 179.9884033203125
                    }
                },
                "velocity": {
                    "x": -4.346371650695801,
                    "y": 0.007066605146974325,
                    "z": 0.020692910999059677
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7184456586837769,
                "transform": {
                    "location": {
                        "x": 656.866455078125,
                        "y": 4290.384765625,
                        "z": 369.9268798828125
                    },
                    "rotation": {
                        "roll": -0.0007019040640443563,
                        "pitch": 0.6510331034660339,
                        "yaw": 179.66964721679688
                    }
                },
                "velocity": {
                    "x": -1.7183936834335327,
                    "y": 0.01008791383355856,
                    "z": 0.00876150093972683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.07502555847168,
                "transform": {
                    "location": {
                        "x": 636.4197998046875,
                        "y": 4290.50439453125,
                        "z": 370.03765869140625
                    },
                    "rotation": {
                        "roll": -6.103509440436028e-05,
                        "pitch": 0.28548821806907654,
                        "yaw": 179.6732177734375
                    }
                },
                "velocity": {
                    "x": -8.074773788452148,
                    "y": 0.04865410178899765,
                    "z": 0.04113815352320671
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007341384887695,
                "transform": {
                    "location": {
                        "x": 616.2620849609375,
                        "y": 4290.62255859375,
                        "z": 370.1683044433594
                    },
                    "rotation": {
                        "roll": 0.00042716003372333944,
                        "pitch": 0.27626746892929077,
                        "yaw": 179.6407470703125
                    }
                },
                "velocity": {
                    "x": -8.007099151611328,
                    "y": 0.05020494386553764,
                    "z": 0.03691975399851799
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.080615043640137,
                "transform": {
                    "location": {
                        "x": 674.7192993164062,
                        "y": 4290.28564453125,
                        "z": 369.8240051269531
                    },
                    "rotation": {
                        "roll": 0.0009136710432358086,
                        "pitch": 0.3152815103530884,
                        "yaw": 179.76084899902344
                    }
                },
                "velocity": {
                    "x": -9.08038330078125,
                    "y": 0.04045090079307556,
                    "z": 0.050684183835983276
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.9460031986236572,
        "expert_target_speed": 0,
        "target_point": [
            12.672723428916346,
            4.145595421637953
        ],
        "target_point_next": [
            62.7825255607624,
            13.632697755165527
        ]
    },
    "310": {
        "acceleration": [
            -0.1023101806640625,
            -0.5345296859741211,
            0.015538036823272705
        ],
        "angular_velocity": [
            -0.15110109746456146,
            -0.11537386476993561,
            5.511953830718994
        ],
        "forward_vector": [
            -0.9847493171691895,
            0.17388685047626495,
            0.005673139356076717
        ],
        "right_vector": [
            -0.17386698722839355,
            -0.9847617149353027,
            0.0038268917705863714
        ],
        "location": [
            642.4596557617188,
            4289.25439453125,
            369.998046875
        ],
        "rotation": [
            -0.2192688137292862,
            0.32504868507385254,
            169.98594665527344
        ],
        "velocity": [
            -5.239057540893555,
            0.8164134621620178,
            0.02944604866206646
        ],
        "speed": 5.3022877004169615,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.144603729248047,
        "front_vehicle_info": {
            "id": 44802,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                634.4134521484375,
                4290.515625,
                370.0477600097656
            ],
            "velocity": [
                -8.000011444091797,
                0.05116202309727669,
                0.04083976522088051
            ],
            "speed_kmh": 28.801005404992555,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.50871467590332,
                "transform": {
                    "location": {
                        "x": 609.909912109375,
                        "y": 4297.36376953125,
                        "z": 370.1576232910156
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.25811967253685,
                        "yaw": -0.3346557021141052
                    }
                },
                "velocity": {
                    "x": 8.508475303649902,
                    "y": -0.04910251125693321,
                    "z": -0.04075947031378746
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.069060325622559,
                "transform": {
                    "location": {
                        "x": 649.855224609375,
                        "y": 4297.1279296875,
                        "z": 369.9681091308594
                    },
                    "rotation": {
                        "roll": 8.85104964254424e-05,
                        "pitch": -0.3120098412036896,
                        "yaw": -0.3608397841453552
                    }
                },
                "velocity": {
                    "x": 8.068805694580078,
                    "y": -0.04897291958332062,
                    "z": -0.04135359078645706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084382057189941,
                "transform": {
                    "location": {
                        "x": 652.7659301757812,
                        "y": 4293.86083984375,
                        "z": 369.9430847167969
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": -0.3049679398536682,
                        "yaw": -0.3603515326976776
                    }
                },
                "velocity": {
                    "x": 8.084114074707031,
                    "y": -0.0509849451482296,
                    "z": -0.04160555824637413
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07625675201416,
                "transform": {
                    "location": {
                        "x": 691.21484375,
                        "y": 4296.8837890625,
                        "z": 369.7259216308594
                    },
                    "rotation": {
                        "roll": 0.00027181123732589185,
                        "pitch": -0.32781490683555603,
                        "yaw": -0.3548583388328552
                    }
                },
                "velocity": {
                    "x": 8.075972557067871,
                    "y": -0.05010978877544403,
                    "z": -0.045566167682409286
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030314445495605,
                "transform": {
                    "location": {
                        "x": 693.297119140625,
                        "y": 4293.62109375,
                        "z": 369.7205810546875
                    },
                    "rotation": {
                        "roll": 0.0005611468805000186,
                        "pitch": -0.33190619945526123,
                        "yaw": -0.3648681640625
                    }
                },
                "velocity": {
                    "x": 8.030027389526367,
                    "y": -0.05051906406879425,
                    "z": -0.04530033841729164
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.895331859588623,
                "transform": {
                    "location": {
                        "x": 612.2286376953125,
                        "y": 4294.095703125,
                        "z": 370.1614074707031
                    },
                    "rotation": {
                        "roll": 0.0014622759772464633,
                        "pitch": -0.7080993056297302,
                        "yaw": 0.01198867429047823
                    }
                },
                "velocity": {
                    "x": 5.895165920257568,
                    "y": -0.033768247812986374,
                    "z": -0.02853391505777836
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.168615818023682,
                "transform": {
                    "location": {
                        "x": 676.4593505859375,
                        "y": 4287.01416015625,
                        "z": 369.8140563964844
                    },
                    "rotation": {
                        "roll": 0.0016689596232026815,
                        "pitch": 0.34155726432800293,
                        "yaw": 179.6349334716797
                    }
                },
                "velocity": {
                    "x": -7.168361186981201,
                    "y": 0.04625382274389267,
                    "z": 0.038809165358543396
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.4277877807617188,
                "transform": {
                    "location": {
                        "x": 662.56005859375,
                        "y": 4287.1044921875,
                        "z": 369.8976745605469
                    },
                    "rotation": {
                        "roll": 0.003952458500862122,
                        "pitch": 0.5433278679847717,
                        "yaw": 179.9252166748047
                    }
                },
                "velocity": {
                    "x": -2.4277312755584717,
                    "y": 0.011502028442919254,
                    "z": 0.01195567101240158
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.0242674350738525,
                "transform": {
                    "location": {
                        "x": 614.1168212890625,
                        "y": 4287.4111328125,
                        "z": 370.1383972167969
                    },
                    "rotation": {
                        "roll": 0.0019832304678857327,
                        "pitch": 0.6896100044250488,
                        "yaw": 179.88255310058594
                    }
                },
                "velocity": {
                    "x": -3.0242221355438232,
                    "y": 0.008297872729599476,
                    "z": 0.014310664497315884
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.809640884399414,
                "transform": {
                    "location": {
                        "x": 598.0135498046875,
                        "y": 4287.5107421875,
                        "z": 370.2541198730469
                    },
                    "rotation": {
                        "roll": 0.0010862384224310517,
                        "pitch": 0.2986363470554352,
                        "yaw": 179.951904296875
                    }
                },
                "velocity": {
                    "x": -4.80958890914917,
                    "y": 0.007125599309802055,
                    "z": 0.021237125620245934
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.05327308177948,
                "transform": {
                    "location": {
                        "x": 656.703125,
                        "y": 4290.3857421875,
                        "z": 369.929443359375
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": 0.44625037908554077,
                        "yaw": 179.71664428710938
                    }
                },
                "velocity": {
                    "x": -1.0532283782958984,
                    "y": 0.007829439826309681,
                    "z": 0.005748395808041096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.000279426574707,
                "transform": {
                    "location": {
                        "x": 634.4134521484375,
                        "y": 4290.515625,
                        "z": 370.0477600097656
                    },
                    "rotation": {
                        "roll": 5.063417484052479e-05,
                        "pitch": 0.2942377030849457,
                        "yaw": 179.63201904296875
                    }
                },
                "velocity": {
                    "x": -8.000011444091797,
                    "y": 0.05116202309727669,
                    "z": 0.04083976522088051
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043865203857422,
                "transform": {
                    "location": {
                        "x": 614.2555541992188,
                        "y": 4290.63427734375,
                        "z": 370.17791748046875
                    },
                    "rotation": {
                        "roll": -0.0005798338097520173,
                        "pitch": 0.27719637751579285,
                        "yaw": 179.64700317382812
                    }
                },
                "velocity": {
                    "x": -8.043628692626953,
                    "y": 0.04942680150270462,
                    "z": 0.037029724568128586
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.862131118774414,
                "transform": {
                    "location": {
                        "x": 672.6036376953125,
                        "y": 4290.294921875,
                        "z": 369.8358459472656
                    },
                    "rotation": {
                        "roll": -6.103518535383046e-05,
                        "pitch": 0.2927009165287018,
                        "yaw": 179.7180633544922
                    }
                },
                "velocity": {
                    "x": -7.861912250518799,
                    "y": 0.039603620767593384,
                    "z": 0.043234795331954956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.851145327091217,
        "expert_target_speed": 10.0,
        "target_point": [
            11.415832003000547,
            3.9089025592790216
        ],
        "target_point_next": [
            61.69034177192602,
            12.480427970418168
        ]
    },
    "315": {
        "acceleration": [
            -0.016336441040039062,
            -1.0610496997833252,
            -0.0053119659423828125
        ],
        "angular_velocity": [
            -0.32720574736595154,
            -0.03439939394593239,
            8.504645347595215
        ],
        "forward_vector": [
            -0.9896218776702881,
            0.1435883641242981,
            0.005564660299569368
        ],
        "right_vector": [
            -0.14355763792991638,
            -0.9896262884140015,
            0.00557707529515028
        ],
        "location": [
            641.140625,
            4289.43603515625,
            370.0050048828125
        ],
        "rotation": [
            -0.3195495009422302,
            0.31883320212364197,
            171.74432373046875
        ],
        "velocity": [
            -5.304920673370361,
            0.5869611501693726,
            0.028834160417318344
        ],
        "speed": 5.3372939531714385,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 8.799479484558105,
        "front_vehicle_info": {
            "id": 44802,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                632.4093017578125,
                4290.52783203125,
                370.05804443359375
            ],
            "velocity": [
                -8.036428451538086,
                0.048020362854003906,
                0.04093245416879654
            ],
            "speed_kmh": 28.93203417085565,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.139217376708984,
                "transform": {
                    "location": {
                        "x": 611.9815063476562,
                        "y": 4297.3515625,
                        "z": 370.14794921875
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -0.28647178411483765,
                        "yaw": -0.3419189453125
                    }
                },
                "velocity": {
                    "x": 8.138969421386719,
                    "y": -0.048903100192546844,
                    "z": -0.040583863854408264
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.081528663635254,
                "transform": {
                    "location": {
                        "x": 651.874267578125,
                        "y": 4297.1162109375,
                        "z": 369.9573059082031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3040458559989929,
                        "yaw": -0.33642578125
                    }
                },
                "velocity": {
                    "x": 8.081271171569824,
                    "y": -0.0493953563272953,
                    "z": -0.041495490819215775
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05156135559082,
                "transform": {
                    "location": {
                        "x": 654.7826538085938,
                        "y": 4293.84814453125,
                        "z": 369.932373046875
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.3071194291114807,
                        "yaw": -0.3598327040672302
                    }
                },
                "velocity": {
                    "x": 8.051290512084961,
                    "y": -0.05044945701956749,
                    "z": -0.04249498248100281
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.024368286132812,
                "transform": {
                    "location": {
                        "x": 693.2269287109375,
                        "y": 4296.87158203125,
                        "z": 369.7144470214844
                    },
                    "rotation": {
                        "roll": 0.0019478298490867019,
                        "pitch": -0.32791054248809814,
                        "yaw": -0.355926513671875
                    }
                },
                "velocity": {
                    "x": 8.02408504486084,
                    "y": -0.0497792549431324,
                    "z": -0.04548054188489914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030835151672363,
                "transform": {
                    "location": {
                        "x": 695.3048095703125,
                        "y": 4293.609375,
                        "z": 369.7091064453125
                    },
                    "rotation": {
                        "roll": 0.00023170633357949555,
                        "pitch": -0.33190619945526123,
                        "yaw": -0.3388672173023224
                    }
                },
                "velocity": {
                    "x": 8.03055477142334,
                    "y": -0.04956268146634102,
                    "z": -0.04528483375906944
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.323853015899658,
                "transform": {
                    "location": {
                        "x": 613.6092529296875,
                        "y": 4294.087890625,
                        "z": 370.15350341796875
                    },
                    "rotation": {
                        "roll": -0.007324217818677425,
                        "pitch": -0.5679028630256653,
                        "yaw": 0.0016293838853016496
                    }
                },
                "velocity": {
                    "x": 5.323715686798096,
                    "y": -0.028830308467149734,
                    "z": -0.025125669315457344
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.168458938598633,
                "transform": {
                    "location": {
                        "x": 674.6121826171875,
                        "y": 4287.0263671875,
                        "z": 369.82440185546875
                    },
                    "rotation": {
                        "roll": 0.000822104630060494,
                        "pitch": 0.3198509216308594,
                        "yaw": 179.63096618652344
                    }
                },
                "velocity": {
                    "x": -7.1681976318359375,
                    "y": 0.046120818704366684,
                    "z": 0.0402558408677578
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.127100467681885,
                "transform": {
                    "location": {
                        "x": 661.7523193359375,
                        "y": 4287.1083984375,
                        "z": 369.90069580078125
                    },
                    "rotation": {
                        "roll": 0.004514534492045641,
                        "pitch": 0.7022048830986023,
                        "yaw": 179.8610382080078
                    }
                },
                "velocity": {
                    "x": -4.126992702484131,
                    "y": 0.020378582179546356,
                    "z": 0.021799277514219284
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.430787086486816,
                "transform": {
                    "location": {
                        "x": 613.1715698242188,
                        "y": 4287.41357421875,
                        "z": 370.142333984375
                    },
                    "rotation": {
                        "roll": 0.002209701808169484,
                        "pitch": 0.8400654196739197,
                        "yaw": 179.86648559570312
                    }
                },
                "velocity": {
                    "x": -4.430722236633301,
                    "y": 0.012205192819237709,
                    "z": 0.020668916404247284
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.895961046218872,
                "transform": {
                    "location": {
                        "x": 596.8272705078125,
                        "y": 4287.51318359375,
                        "z": 370.260498046875
                    },
                    "rotation": {
                        "roll": 0.0008552696672268212,
                        "pitch": 0.1927684247493744,
                        "yaw": 179.99758911132812
                    }
                },
                "velocity": {
                    "x": -3.8959286212921143,
                    "y": 0.004080202430486679,
                    "z": 0.015356597490608692
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.931416630744934,
                "transform": {
                    "location": {
                        "x": 656.3253173828125,
                        "y": 4290.38720703125,
                        "z": 369.9332275390625
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.2331826388835907,
                        "yaw": 179.6951904296875
                    }
                },
                "velocity": {
                    "x": -1.9313580989837646,
                    "y": 0.010738148353993893,
                    "z": 0.010515737347304821
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.036676406860352,
                "transform": {
                    "location": {
                        "x": 632.4093017578125,
                        "y": 4290.52783203125,
                        "z": 370.05804443359375
                    },
                    "rotation": {
                        "roll": 0.0005316086462698877,
                        "pitch": 0.2877763509750366,
                        "yaw": 179.67608642578125
                    }
                },
                "velocity": {
                    "x": -8.036428451538086,
                    "y": 0.048020362854003906,
                    "z": 0.04093245416879654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007330894470215,
                "transform": {
                    "location": {
                        "x": 612.2493896484375,
                        "y": 4290.64599609375,
                        "z": 370.18756103515625
                    },
                    "rotation": {
                        "roll": -3.051760359085165e-05,
                        "pitch": 0.27617186307907104,
                        "yaw": 179.64466857910156
                    }
                },
                "velocity": {
                    "x": -8.007089614868164,
                    "y": 0.049716103821992874,
                    "z": 0.037227876484394073
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.281805515289307,
                "transform": {
                    "location": {
                        "x": 670.8289184570312,
                        "y": 4290.30419921875,
                        "z": 369.8457336425781
                    },
                    "rotation": {
                        "roll": 0.0008080782135948539,
                        "pitch": 0.27705293893814087,
                        "yaw": 179.7029571533203
                    }
                },
                "velocity": {
                    "x": -6.281620979309082,
                    "y": 0.03393805772066116,
                    "z": 0.034098587930202484
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.6694341897964478,
        "expert_target_speed": 10.0,
        "target_point": [
            10.198956886892594,
            3.5471266775647283
        ],
        "target_point_next": [
            60.71280916364189,
            10.57194756797445
        ]
    },
    "320": {
        "acceleration": [
            -2.0578575134277344,
            -1.3572335243225098,
            0.00010892748832702637
        ],
        "angular_velocity": [
            -0.36846211552619934,
            0.097963847219944,
            12.962793350219727
        ],
        "forward_vector": [
            -0.9953306913375854,
            0.09592192620038986,
            0.010756522417068481
        ],
        "right_vector": [
            -0.09583760797977448,
            -0.9953640699386597,
            0.008099712431430817
        ],
        "location": [
            639.6353759765625,
            4289.56787109375,
            370.0118713378906
        ],
        "rotation": [
            -0.4641112685203552,
            0.6163152456283569,
            174.49530029296875
        ],
        "velocity": [
            -6.484868049621582,
            0.3645544648170471,
            0.0335051529109478
        ],
        "speed": 6.495106895103487,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.287115097045898,
        "front_vehicle_info": {
            "id": 44802,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                630.3993530273438,
                4290.5390625,
                370.0682373046875
            ],
            "velocity": [
                -8.034193992614746,
                0.048840828239917755,
                0.04060841351747513
            ],
            "speed_kmh": 28.92400225152306,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 573.5765380859375,
                        "y": 4294.22705078125,
                        "z": 370.40814208984375
                    },
                    "rotation": {
                        "roll": -5.2110628312451723e-11,
                        "pitch": -0.23092184960842133,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.196274757385254,
                "transform": {
                    "location": {
                        "x": 613.9481201171875,
                        "y": 4297.34033203125,
                        "z": 370.13861083984375
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.30273446440696716,
                        "yaw": -0.3457336127758026
                    }
                },
                "velocity": {
                    "x": 7.1960601806640625,
                    "y": -0.04328344389796257,
                    "z": -0.034858401864767075
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.080392837524414,
                "transform": {
                    "location": {
                        "x": 653.894775390625,
                        "y": 4297.1044921875,
                        "z": 369.94659423828125
                    },
                    "rotation": {
                        "roll": 0.0003019602445419878,
                        "pitch": -0.3069145381450653,
                        "yaw": -0.3639220595359802
                    }
                },
                "velocity": {
                    "x": 8.080134391784668,
                    "y": -0.04935401678085327,
                    "z": -0.04179760068655014
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084321975708008,
                "transform": {
                    "location": {
                        "x": 656.7998046875,
                        "y": 4293.8369140625,
                        "z": 369.921630859375
                    },
                    "rotation": {
                        "roll": -3.05176290567033e-05,
                        "pitch": -0.30593782663345337,
                        "yaw": -0.3583068549633026
                    }
                },
                "velocity": {
                    "x": 8.084052085876465,
                    "y": -0.04964692145586014,
                    "z": -0.04362429678440094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07807731628418,
                "transform": {
                    "location": {
                        "x": 695.2398071289062,
                        "y": 4296.8603515625,
                        "z": 369.7029724121094
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": -0.32784906029701233,
                        "yaw": -0.3558959662914276
                    }
                },
                "velocity": {
                    "x": 8.077794075012207,
                    "y": -0.050278857350349426,
                    "z": -0.045404814183712006
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.0303373336792,
                "transform": {
                    "location": {
                        "x": 697.312255859375,
                        "y": 4293.59716796875,
                        "z": 369.6976013183594
                    },
                    "rotation": {
                        "roll": 0.0011032384354621172,
                        "pitch": -0.33309465646743774,
                        "yaw": -0.3710326850414276
                    }
                },
                "velocity": {
                    "x": 8.030044555664062,
                    "y": -0.05124702304601669,
                    "z": -0.04561486467719078
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.564911842346191,
                "transform": {
                    "location": {
                        "x": 615.0482177734375,
                        "y": 4294.08203125,
                        "z": 370.1424255371094
                    },
                    "rotation": {
                        "roll": -0.00012207027612021193,
                        "pitch": -0.04846018925309181,
                        "yaw": -0.1344604343175888
                    }
                },
                "velocity": {
                    "x": 6.564761161804199,
                    "y": -0.03192619979381561,
                    "z": -0.030985187739133835
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.36928129196167,
                "transform": {
                    "location": {
                        "x": 673.0732421875,
                        "y": 4287.0361328125,
                        "z": 369.8332214355469
                    },
                    "rotation": {
                        "roll": 0.0013185322750359774,
                        "pitch": 0.2651479244232178,
                        "yaw": 179.63323974609375
                    }
                },
                "velocity": {
                    "x": -4.369143962860107,
                    "y": 0.028052188456058502,
                    "z": 0.020281944423913956
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.212617874145508,
                "transform": {
                    "location": {
                        "x": 660.5072021484375,
                        "y": 4287.11376953125,
                        "z": 369.9078674316406
                    },
                    "rotation": {
                        "roll": 0.0052167559042572975,
                        "pitch": 0.6749728918075562,
                        "yaw": 179.7700958251953
                    }
                },
                "velocity": {
                    "x": -5.212462425231934,
                    "y": 0.028249826282262802,
                    "z": 0.028651302680373192
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.33459997177124,
                "transform": {
                    "location": {
                        "x": 611.91162109375,
                        "y": 4287.41748046875,
                        "z": 370.14886474609375
                    },
                    "rotation": {
                        "roll": 0.00021864045993424952,
                        "pitch": 0.7891531586647034,
                        "yaw": 179.8552703857422
                    }
                },
                "velocity": {
                    "x": -5.334517478942871,
                    "y": 0.014049308374524117,
                    "z": 0.02610519342124462
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.781956672668457,
                "transform": {
                    "location": {
                        "x": 595.7523193359375,
                        "y": 4287.51513671875,
                        "z": 370.2644958496094
                    },
                    "rotation": {
                        "roll": 0.0037973178550601006,
                        "pitch": 0.29125291109085083,
                        "yaw": 179.972900390625
                    }
                },
                "velocity": {
                    "x": -4.781874179840088,
                    "y": 0.01779942773282528,
                    "z": 0.021759632974863052
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8343567848205566,
                "transform": {
                    "location": {
                        "x": 655.7249755859375,
                        "y": 4290.39111328125,
                        "z": 369.9366455078125
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": 0.21612083911895752,
                        "yaw": 179.68797302246094
                    }
                },
                "velocity": {
                    "x": -2.834268093109131,
                    "y": 0.016751091927289963,
                    "z": 0.0149083798751235
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.034444808959961,
                "transform": {
                    "location": {
                        "x": 630.3993530273438,
                        "y": 4290.5390625,
                        "z": 370.0682373046875
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.2892789840698242,
                        "yaw": 179.6329345703125
                    }
                },
                "velocity": {
                    "x": -8.034193992614746,
                    "y": 0.048840828239917755,
                    "z": 0.04060841351747513
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044193267822266,
                "transform": {
                    "location": {
                        "x": 610.2428588867188,
                        "y": 4290.658203125,
                        "z": 370.1971435546875
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.2740476727485657,
                        "yaw": 179.6444549560547
                    }
                },
                "velocity": {
                    "x": -8.043950080871582,
                    "y": 0.04984598979353905,
                    "z": 0.037641189992427826
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4060242176055908,
                "transform": {
                    "location": {
                        "x": 669.8768310546875,
                        "y": 4290.30908203125,
                        "z": 369.8511657714844
                    },
                    "rotation": {
                        "roll": 0.00012101051106583327,
                        "pitch": 0.21140117943286896,
                        "yaw": 179.70138549804688
                    }
                },
                "velocity": {
                    "x": -1.4059818983078003,
                    "y": 0.0075580100528895855,
                    "z": 0.007863998413085938
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.06919564306735992,
        "expert_target_speed": 10.0,
        "target_point": [
            8.846492994344429,
            3.040375844638394
        ],
        "target_point_next": [
            59.639287091831605,
            7.632700762352677
        ]
    },
    "325": {
        "acceleration": [
            -1.376028060913086,
            -1.755812168121338,
            0.0010666251182556152
        ],
        "angular_velocity": [
            -0.3074854016304016,
            -0.35692769289016724,
            14.819791793823242
        ],
        "forward_vector": [
            -0.9993783831596375,
            0.03397510200738907,
            0.009404996410012245
        ],
        "right_vector": [
            -0.033880796283483505,
            -0.9993757009506226,
            0.010011278092861176
        ],
        "location": [
            637.9617919921875,
            4289.6181640625,
            370.0208435058594
        ],
        "rotation": [
            -0.573638916015625,
            0.5388745665550232,
            178.05291748046875
        ],
        "velocity": [
            -6.879189491271973,
            -0.04835987463593483,
            0.03404799476265907
        ],
        "speed": 6.879359471222705,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.614954948425293,
        "front_vehicle_info": {
            "id": 44802,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                628.3923950195312,
                4290.55126953125,
                370.0783386230469
            ],
            "velocity": [
                -8.025389671325684,
                0.04905829206109047,
                0.041291914880275726
            ],
            "speed_kmh": 28.89232501632198,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0776844024658203,
                "transform": {
                    "location": {
                        "x": 573.595703125,
                        "y": 4297.47705078125,
                        "z": 370.411865234375
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.23111309111118317,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": -0.008024884387850761,
                    "y": -0.00012058237189194188,
                    "z": -2.0776689052581787
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23505082726478577,
                "transform": {
                    "location": {
                        "x": 573.5759887695312,
                        "y": 4294.22705078125,
                        "z": 370.2633056640625
                    },
                    "rotation": {
                        "roll": 0.0001463393127778545,
                        "pitch": -0.2312018871307373,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0009497888386249542,
                    "y": 6.228214715520153e-06,
                    "z": 0.23504890501499176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.771030426025391,
                "transform": {
                    "location": {
                        "x": 615.6591186523438,
                        "y": 4297.33056640625,
                        "z": 370.1303405761719
                    },
                    "rotation": {
                        "roll": -0.00033569333027116954,
                        "pitch": -0.296450674533844,
                        "yaw": -0.3465270698070526
                    }
                },
                "velocity": {
                    "x": 6.770822525024414,
                    "y": -0.04134388267993927,
                    "z": -0.03331935405731201
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.075736999511719,
                "transform": {
                    "location": {
                        "x": 655.9138793945312,
                        "y": 4297.0927734375,
                        "z": 369.93585205078125
                    },
                    "rotation": {
                        "roll": 0.0008458807715214789,
                        "pitch": -0.308929443359375,
                        "yaw": -0.340362548828125
                    }
                },
                "velocity": {
                    "x": 8.075472831726074,
                    "y": -0.04971566051244736,
                    "z": -0.04221256822347641
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05174732208252,
                "transform": {
                    "location": {
                        "x": 658.8167114257812,
                        "y": 4293.82470703125,
                        "z": 369.9107666015625
                    },
                    "rotation": {
                        "roll": 0.0012715064221993089,
                        "pitch": -0.30737897753715515,
                        "yaw": -0.355712890625
                    }
                },
                "velocity": {
                    "x": 8.051469802856445,
                    "y": -0.049958739429712296,
                    "z": -0.044445380568504333
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.02393627166748,
                "transform": {
                    "location": {
                        "x": 697.2520751953125,
                        "y": 4296.8486328125,
                        "z": 369.6914367675781
                    },
                    "rotation": {
                        "roll": 0.00027142229373566806,
                        "pitch": -0.329863965511322,
                        "yaw": -0.356109619140625
                    }
                },
                "velocity": {
                    "x": 8.023648262023926,
                    "y": -0.049869704991579056,
                    "z": -0.046222370117902756
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030621528625488,
                "transform": {
                    "location": {
                        "x": 699.3200073242188,
                        "y": 4293.58544921875,
                        "z": 369.6860046386719
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": -0.3357789218425751,
                        "yaw": -0.3369750678539276
                    }
                },
                "velocity": {
                    "x": 8.03034496307373,
                    "y": -0.049022819846868515,
                    "z": -0.04517141729593277
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.5149736404418945,
                "transform": {
                    "location": {
                        "x": 616.875732421875,
                        "y": 4294.07373046875,
                        "z": 370.132568359375
                    },
                    "rotation": {
                        "roll": 0.008237279020249844,
                        "pitch": 0.10253479331731796,
                        "yaw": -0.335540771484375
                    }
                },
                "velocity": {
                    "x": 7.514756679534912,
                    "y": -0.043516602367162704,
                    "z": -0.0369579941034317
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.15858541429042816,
                "transform": {
                    "location": {
                        "x": 672.7449951171875,
                        "y": 4287.0380859375,
                        "z": 369.8352966308594
                    },
                    "rotation": {
                        "roll": 0.0009563896455802023,
                        "pitch": 0.21680384874343872,
                        "yaw": 179.63531494140625
                    }
                },
                "velocity": {
                    "x": -0.15856915712356567,
                    "y": 0.000954709539655596,
                    "z": 0.0020601367577910423
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.776167869567871,
                "transform": {
                    "location": {
                        "x": 659.0028686523438,
                        "y": 4287.12255859375,
                        "z": 369.9167175292969
                    },
                    "rotation": {
                        "roll": 0.002227452350780368,
                        "pitch": 0.5870547294616699,
                        "yaw": 179.7602081298828
                    }
                },
                "velocity": {
                    "x": -6.775964260101318,
                    "y": 0.038571618497371674,
                    "z": 0.03564643859863281
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.147280216217041,
                "transform": {
                    "location": {
                        "x": 610.5350341796875,
                        "y": 4287.421875,
                        "z": 370.1558532714844
                    },
                    "rotation": {
                        "roll": 0.008571600541472435,
                        "pitch": 0.6574603319168091,
                        "yaw": 179.8268280029297
                    }
                },
                "velocity": {
                    "x": -6.147162914276123,
                    "y": 0.02379838563501835,
                    "z": 0.02959218993782997
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.332336902618408,
                "transform": {
                    "location": {
                        "x": 594.4530639648438,
                        "y": 4287.52001953125,
                        "z": 370.27044677734375
                    },
                    "rotation": {
                        "roll": 0.0027252112049609423,
                        "pitch": 0.3136081099510193,
                        "yaw": 179.97537231445312
                    }
                },
                "velocity": {
                    "x": -5.332243919372559,
                    "y": 0.01986263319849968,
                    "z": 0.024400843307375908
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.87558913230896,
                "transform": {
                    "location": {
                        "x": 654.8868408203125,
                        "y": 4290.39599609375,
                        "z": 369.9411315917969
                    },
                    "rotation": {
                        "roll": -0.0009155272273346782,
                        "pitch": 0.20144958794116974,
                        "yaw": 179.6827850341797
                    }
                },
                "velocity": {
                    "x": -3.8754775524139404,
                    "y": 0.02107318863272667,
                    "z": 0.02047322317957878
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.02564525604248,
                "transform": {
                    "location": {
                        "x": 628.3923950195312,
                        "y": 4290.55126953125,
                        "z": 370.0783386230469
                    },
                    "rotation": {
                        "roll": -0.00021362303232308477,
                        "pitch": 0.28643763065338135,
                        "yaw": 179.66831970214844
                    }
                },
                "velocity": {
                    "x": -8.025389671325684,
                    "y": 0.04905829206109047,
                    "z": 0.041291914880275726
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008000373840332,
                "transform": {
                    "location": {
                        "x": 608.2366943359375,
                        "y": 4290.669921875,
                        "z": 370.2066345214844
                    },
                    "rotation": {
                        "roll": 0.00027755519840866327,
                        "pitch": 0.2720600664615631,
                        "yaw": 179.6444091796875
                    }
                },
                "velocity": {
                    "x": -8.007763862609863,
                    "y": 0.049712710082530975,
                    "z": 0.036215342581272125
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.49606451392173767,
                "transform": {
                    "location": {
                        "x": 669.8027954101562,
                        "y": 4290.30908203125,
                        "z": 369.8511962890625
                    },
                    "rotation": {
                        "roll": 0.0004333972174208611,
                        "pitch": 0.2747580111026764,
                        "yaw": 179.7196502685547
                    }
                },
                "velocity": {
                    "x": -0.49604928493499756,
                    "y": 0.0029395020101219416,
                    "z": 0.0025463486090302467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9993993639945984,
        "expert_target_speed": 10.0,
        "target_point": [
            7.343781013967028,
            2.478972381379475
        ],
        "target_point_next": [
            58.32365676143017,
            3.9106319613100062
        ]
    },
    "330": {
        "acceleration": [
            -1.147308349609375,
            -1.512162685394287,
            -0.003223791718482971
        ],
        "angular_velocity": [
            0.22871020436286926,
            -0.17873774468898773,
            14.064127922058105
        ],
        "forward_vector": [
            -0.9994994401931763,
            -0.030552953481674194,
            0.00821008998900652
        ],
        "right_vector": [
            0.030637463554739952,
            -0.9994766712188721,
            0.0103730084374547
        ],
        "location": [
            636.20263671875,
            4289.5634765625,
            370.0299377441406
        ],
        "rotation": [
            -0.5943602919578552,
            0.47040876746177673,
            -178.24911499023438
        ],
        "velocity": [
            -7.182600975036621,
            -0.4691324532032013,
            0.037017822265625
        ],
        "speed": 7.19790539151811,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 9.868315696716309,
        "front_vehicle_info": {
            "id": 44802,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                626.3851928710938,
                4290.5625,
                370.08831787109375
            ],
            "velocity": [
                -8.031872749328613,
                0.04885265231132507,
                0.04083004966378212
            ],
            "speed_kmh": 28.915650340716404,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.14024847745895386,
                "transform": {
                    "location": {
                        "x": 573.5953369140625,
                        "y": 4297.47705078125,
                        "z": 370.3302307128906
                    },
                    "rotation": {
                        "roll": -3.051765088457614e-05,
                        "pitch": -0.23095600306987762,
                        "yaw": -0.3386840522289276
                    }
                },
                "velocity": {
                    "x": 0.0005805990658700466,
                    "y": -3.100965841440484e-05,
                    "z": 0.14024727046489716
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0957866683602333,
                "transform": {
                    "location": {
                        "x": 573.5759887695312,
                        "y": 4294.22705078125,
                        "z": 370.3118591308594
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": -0.23101747035980225,
                        "yaw": -0.33868408203125
                    }
                },
                "velocity": {
                    "x": 0.0003909585648216307,
                    "y": 8.116736717056483e-05,
                    "z": 0.09578584134578705
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.542078971862793,
                "transform": {
                    "location": {
                        "x": 617.4382934570312,
                        "y": 4297.3193359375,
                        "z": 370.1214294433594
                    },
                    "rotation": {
                        "roll": 0.0006301601533778012,
                        "pitch": -0.25714296102523804,
                        "yaw": -0.35113525390625
                    }
                },
                "velocity": {
                    "x": 7.541855812072754,
                    "y": -0.04612371325492859,
                    "z": -0.03515203297138214
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077902793884277,
                "transform": {
                    "location": {
                        "x": 657.9329833984375,
                        "y": 4297.0810546875,
                        "z": 369.92510986328125
                    },
                    "rotation": {
                        "roll": 0.0006861192523501813,
                        "pitch": -0.309202641248703,
                        "yaw": -0.37078857421875
                    }
                },
                "velocity": {
                    "x": 8.077624320983887,
                    "y": -0.05053272098302841,
                    "z": -0.044011883437633514
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084367752075195,
                "transform": {
                    "location": {
                        "x": 660.8338623046875,
                        "y": 4293.81298828125,
                        "z": 369.89996337890625
                    },
                    "rotation": {
                        "roll": 0.0012890611542388797,
                        "pitch": -0.30904555320739746,
                        "yaw": -0.3525085747241974
                    }
                },
                "velocity": {
                    "x": 8.084097862243652,
                    "y": -0.04869948327541351,
                    "z": -0.044573426246643066
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.07608699798584,
                "transform": {
                    "location": {
                        "x": 699.2646484375,
                        "y": 4296.8369140625,
                        "z": 369.6798400878906
                    },
                    "rotation": {
                        "roll": 5.094337393529713e-05,
                        "pitch": -0.33135977387428284,
                        "yaw": -0.3580321669578552
                    }
                },
                "velocity": {
                    "x": 8.075786590576172,
                    "y": -0.051954105496406555,
                    "z": -0.04635346308350563
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.030332565307617,
                "transform": {
                    "location": {
                        "x": 701.3273315429688,
                        "y": 4293.57373046875,
                        "z": 369.6744384765625
                    },
                    "rotation": {
                        "roll": 0.0006260814843699336,
                        "pitch": -0.33627068996429443,
                        "yaw": -0.3681945204734802
                    }
                },
                "velocity": {
                    "x": 8.030051231384277,
                    "y": -0.04969630017876625,
                    "z": -0.045263346284627914
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.661547660827637,
                "transform": {
                    "location": {
                        "x": 618.9847412109375,
                        "y": 4294.06103515625,
                        "z": 370.1233825683594
                    },
                    "rotation": {
                        "roll": 0.004050511866807938,
                        "pitch": -0.03918479382991791,
                        "yaw": -0.3766173720359802
                    }
                },
                "velocity": {
                    "x": 8.661275863647461,
                    "y": -0.05467025935649872,
                    "z": -0.041444726288318634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9901254177093506,
                "transform": {
                    "location": {
                        "x": 672.5947265625,
                        "y": 4287.0390625,
                        "z": 369.83538818359375
                    },
                    "rotation": {
                        "roll": 0.001243725186213851,
                        "pitch": 0.3164289891719818,
                        "yaw": 179.65135192871094
                    }
                },
                "velocity": {
                    "x": -0.9901003241539001,
                    "y": 0.005015190690755844,
                    "z": 0.004946708679199219
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.021142959594727,
                "transform": {
                    "location": {
                        "x": 657.1510620117188,
                        "y": 4287.13232421875,
                        "z": 369.9266357421875
                    },
                    "rotation": {
                        "roll": -0.0002746579993981868,
                        "pitch": 0.5735173225402832,
                        "yaw": 179.75994873046875
                    }
                },
                "velocity": {
                    "x": -8.020901679992676,
                    "y": 0.04444195330142975,
                    "z": 0.0436115637421608
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.500647068023682,
                "transform": {
                    "location": {
                        "x": 608.8019409179688,
                        "y": 4287.4287109375,
                        "z": 370.1634216308594
                    },
                    "rotation": {
                        "roll": 0.008004842326045036,
                        "pitch": 0.8311042189598083,
                        "yaw": 179.77455139160156
                    }
                },
                "velocity": {
                    "x": -7.500496864318848,
                    "y": 0.032905638217926025,
                    "z": 0.03421046957373619
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.933289527893066,
                "transform": {
                    "location": {
                        "x": 593.0613403320312,
                        "y": 4287.525390625,
                        "z": 370.27679443359375
                    },
                    "rotation": {
                        "roll": 0.0018485995242372155,
                        "pitch": 0.31041160225868225,
                        "yaw": 179.9444122314453
                    }
                },
                "velocity": {
                    "x": -5.9331865310668945,
                    "y": 0.022035907953977585,
                    "z": 0.02722018212080002
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.975970268249512,
                "transform": {
                    "location": {
                        "x": 653.7723999023438,
                        "y": 4290.40234375,
                        "z": 369.94720458984375
                    },
                    "rotation": {
                        "roll": 0.0007465638336725533,
                        "pitch": 0.1936495155096054,
                        "yaw": 179.6720428466797
                    }
                },
                "velocity": {
                    "x": -4.975820541381836,
                    "y": 0.028139494359493256,
                    "z": 0.026407774537801743
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.032125473022461,
                "transform": {
                    "location": {
                        "x": 626.3851928710938,
                        "y": 4290.5625,
                        "z": 370.08831787109375
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.2797372043132782,
                        "yaw": 179.6324462890625
                    }
                },
                "velocity": {
                    "x": -8.031872749328613,
                    "y": 0.04885265231132507,
                    "z": 0.04083004966378212
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043845176696777,
                "transform": {
                    "location": {
                        "x": 606.2301635742188,
                        "y": 4290.681640625,
                        "z": 370.21612548828125
                    },
                    "rotation": {
                        "roll": 0.0011489049065858126,
                        "pitch": 0.27293434739112854,
                        "yaw": 179.64108276367188
                    }
                },
                "velocity": {
                    "x": -8.043601036071777,
                    "y": 0.05039266496896744,
                    "z": 0.03731184080243111
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2840138673782349,
                "transform": {
                    "location": {
                        "x": 669.5732421875,
                        "y": 4290.31103515625,
                        "z": 369.8520202636719
                    },
                    "rotation": {
                        "roll": -0.00015258781786542386,
                        "pitch": 0.32562926411628723,
                        "yaw": 179.74534606933594
                    }
                },
                "velocity": {
                    "x": -1.2839782238006592,
                    "y": 0.007104495540261269,
                    "z": 0.006413087714463472
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9998241662979126,
        "expert_target_speed": 10.0,
        "target_point": [
            56.694440218088765,
            0.13990265050537798
        ],
        "target_point_next": [
            62.69042786164379,
            -0.07904456252692582
        ]
    },
    "335": {
        "acceleration": [
            -1.0625839233398438,
            -1.1679351329803467,
            0.0020353496074676514
        ],
        "angular_velocity": [
            0.3996615707874298,
            -0.03555992618203163,
            10.302878379821777
        ],
        "forward_vector": [
            -0.996545672416687,
            -0.08268925547599792,
            0.007695479318499565
        ],
        "right_vector": [
            0.08275628089904785,
            -0.9965305924415588,
            0.008841849863529205
        ],
        "location": [
            634.3711547851562,
            4289.41357421875,
            370.03948974609375
        ],
        "rotation": [
            -0.506622314453125,
            0.4409228265285492,
            -175.25669860839844
        ],
        "velocity": [
            -7.45358419418335,
            -0.8032752871513367,
            0.03768299147486687
        ],
        "speed": 7.496743861619384,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.061173439025879,
        "front_vehicle_info": {
            "id": 44802,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                624.3773803710938,
                4290.57470703125,
                370.0982360839844
            ],
            "velocity": [
                -8.030388832092285,
                0.04778190329670906,
                0.040961138904094696
            ],
            "speed_kmh": 28.910287617529683,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9252058267593384,
                "transform": {
                    "location": {
                        "x": 573.6609497070312,
                        "y": 4297.4775390625,
                        "z": 370.35308837890625
                    },
                    "rotation": {
                        "roll": -0.003662109375,
                        "pitch": -0.1570192128419876,
                        "yaw": -0.314971923828125
                    }
                },
                "velocity": {
                    "x": 0.9242154359817505,
                    "y": 0.006656061392277479,
                    "z": 0.04227674379944801
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.137210726737976,
                "transform": {
                    "location": {
                        "x": 573.695556640625,
                        "y": 4294.2275390625,
                        "z": 370.3191833496094
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -0.19879265129566193,
                        "yaw": -0.2948608100414276
                    }
                },
                "velocity": {
                    "x": 1.1371865272521973,
                    "y": 0.006794308312237263,
                    "z": -0.0029910753946751356
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.577614784240723,
                "transform": {
                    "location": {
                        "x": 619.4122314453125,
                        "y": 4297.3076171875,
                        "z": 370.1117858886719
                    },
                    "rotation": {
                        "roll": 0.0008088836329989135,
                        "pitch": -0.2457296997308731,
                        "yaw": -0.3536376357078552
                    }
                },
                "velocity": {
                    "x": 8.577352523803711,
                    "y": -0.05273143947124481,
                    "z": -0.041415151208639145
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.079082489013672,
                "transform": {
                    "location": {
                        "x": 659.9525146484375,
                        "y": 4297.06884765625,
                        "z": 369.9142150878906
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": -0.31136780977249146,
                        "yaw": -0.34454345703125
                    }
                },
                "velocity": {
                    "x": 8.07880687713623,
                    "y": -0.0493910126388073,
                    "z": -0.0449160560965538
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051146507263184,
                "transform": {
                    "location": {
                        "x": 662.8507690429688,
                        "y": 4293.80126953125,
                        "z": 369.8890686035156
                    },
                    "rotation": {
                        "roll": 0.001106184790842235,
                        "pitch": -0.3091753125190735,
                        "yaw": -0.348907470703125
                    }
                },
                "velocity": {
                    "x": 8.05087661743164,
                    "y": -0.049043264240026474,
                    "z": -0.0440276674926281
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.025668144226074,
                "transform": {
                    "location": {
                        "x": 701.277099609375,
                        "y": 4296.82421875,
                        "z": 369.6681823730469
                    },
                    "rotation": {
                        "roll": 0.00014088867465034127,
                        "pitch": -0.33196765184402466,
                        "yaw": -0.3602294623851776
                    }
                },
                "velocity": {
                    "x": 8.025375366210938,
                    "y": -0.05041898787021637,
                    "z": -0.046489741653203964
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.03009033203125,
                "transform": {
                    "location": {
                        "x": 703.3346557617188,
                        "y": 4293.56201171875,
                        "z": 369.6628112792969
                    },
                    "rotation": {
                        "roll": 0.00023113779025152326,
                        "pitch": -0.3353281319141388,
                        "yaw": -0.3377075493335724
                    }
                },
                "velocity": {
                    "x": 8.02981185913086,
                    "y": -0.04925905913114548,
                    "z": -0.0452103316783905
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.133294105529785,
                "transform": {
                    "location": {
                        "x": 621.0762939453125,
                        "y": 4294.0478515625,
                        "z": 370.1162414550781
                    },
                    "rotation": {
                        "roll": 0.00039485711022280157,
                        "pitch": -0.3983161151409149,
                        "yaw": -0.3786621391773224
                    }
                },
                "velocity": {
                    "x": 8.133027076721191,
                    "y": -0.05176583305001259,
                    "z": -0.04076628014445305
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7192878723144531,
                "transform": {
                    "location": {
                        "x": 672.2546997070312,
                        "y": 4287.04052734375,
                        "z": 369.83709716796875
                    },
                    "rotation": {
                        "roll": 0.00033886684104800224,
                        "pitch": 0.33340883255004883,
                        "yaw": 179.59031677246094
                    }
                },
                "velocity": {
                    "x": -1.7192249298095703,
                    "y": 0.01156231015920639,
                    "z": 0.009107980877161026
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.711146831512451,
                "transform": {
                    "location": {
                        "x": 655.1353149414062,
                        "y": 4287.14501953125,
                        "z": 369.9400329589844
                    },
                    "rotation": {
                        "roll": -0.006652830634266138,
                        "pitch": 0.25747764110565186,
                        "yaw": 179.92466735839844
                    }
                },
                "velocity": {
                    "x": -6.710976600646973,
                    "y": 0.031852345913648605,
                    "z": 0.035583265125751495
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.291356086730957,
                "transform": {
                    "location": {
                        "x": 606.9287719726562,
                        "y": 4287.4365234375,
                        "z": 370.1735534667969
                    },
                    "rotation": {
                        "roll": 0.0028758596163243055,
                        "pitch": 0.4645143151283264,
                        "yaw": 179.75485229492188
                    }
                },
                "velocity": {
                    "x": -7.291207313537598,
                    "y": 0.031268272548913956,
                    "z": 0.03457826375961304
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.960654258728027,
                "transform": {
                    "location": {
                        "x": 591.2299194335938,
                        "y": 4287.53125,
                        "z": 370.2838439941406
                    },
                    "rotation": {
                        "roll": 0.0016206654254347086,
                        "pitch": 0.4303770363330841,
                        "yaw": 179.8342742919922
                    }
                },
                "velocity": {
                    "x": -7.960519790649414,
                    "y": 0.031519148498773575,
                    "z": 0.03386569768190384
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.441641330718994,
                "transform": {
                    "location": {
                        "x": 652.4617919921875,
                        "y": 4290.41015625,
                        "z": 369.9539489746094
                    },
                    "rotation": {
                        "roll": -0.0010986325796693563,
                        "pitch": 0.2527579665184021,
                        "yaw": 179.6643524169922
                    }
                },
                "velocity": {
                    "x": -5.441462993621826,
                    "y": 0.03231237828731537,
                    "z": 0.029926909133791924
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030634880065918,
                "transform": {
                    "location": {
                        "x": 624.3773803710938,
                        "y": 4290.57470703125,
                        "z": 370.0982360839844
                    },
                    "rotation": {
                        "roll": 0.00015903105668257922,
                        "pitch": 0.28088468313217163,
                        "yaw": 179.66592407226562
                    }
                },
                "velocity": {
                    "x": -8.030388832092285,
                    "y": 0.04778190329670906,
                    "z": 0.040961138904094696
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00715446472168,
                "transform": {
                    "location": {
                        "x": 604.2240600585938,
                        "y": 4290.693359375,
                        "z": 370.2255859375
                    },
                    "rotation": {
                        "roll": 5.9868685639230534e-05,
                        "pitch": 0.27234694361686707,
                        "yaw": 179.6408233642578
                    }
                },
                "velocity": {
                    "x": -8.006911277770996,
                    "y": 0.05017204210162163,
                    "z": 0.03706628829240799
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.0369789600372314,
                "transform": {
                    "location": {
                        "x": 669.154541015625,
                        "y": 4290.3125,
                        "z": 369.8542175292969
                    },
                    "rotation": {
                        "roll": 0.00013778242282569408,
                        "pitch": 0.3316330015659332,
                        "yaw": 179.6883544921875
                    }
                },
                "velocity": {
                    "x": -2.036919593811035,
                    "y": 0.011188763193786144,
                    "z": 0.010785417631268501
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 1.001034140586853,
        "expert_target_speed": 10.0,
        "target_point": [
            54.786833088252585,
            -2.817891729043921
        ],
        "target_point_next": [
            60.763215061362295,
            -3.3495534779486373
        ]
    },
    "340": {
        "acceleration": [
            -1.0578346252441406,
            -0.05238056182861328,
            0.013565421104431152
        ],
        "angular_velocity": [
            1.034021258354187,
            0.07823508232831955,
            2.847191095352173
        ],
        "forward_vector": [
            -0.9941046833992004,
            -0.10816513746976852,
            0.007504988461732864
        ],
        "right_vector": [
            0.10819882154464722,
            -0.9941202402114868,
            0.004237489774823189
        ],
        "location": [
            632.4706420898438,
            4289.2080078125,
            370.0492248535156
        ],
        "rotation": [
            -0.2427978217601776,
            0.430008202791214,
            -173.79026794433594
        ],
        "velocity": [
            -7.730502128601074,
            -0.885188639163971,
            0.03765852749347687
        ],
        "speed": 7.781016777209178,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 2,
        "distance_to_front_vehicle": 10.194685935974121,
        "front_vehicle_info": {
            "id": 44802,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                622.3698120117188,
                4290.5869140625,
                370.108154296875
            ],
            "velocity": [
                -8.029168128967285,
                0.049836043268442154,
                0.04100050777196884
            ],
            "speed_kmh": 28.905938896501354,
            "color": "22,31,73"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.9163827896118164,
                "transform": {
                    "location": {
                        "x": 574.0282592773438,
                        "y": 4297.478515625,
                        "z": 370.35662841796875
                    },
                    "rotation": {
                        "roll": -0.004272460471838713,
                        "pitch": -0.12456898391246796,
                        "yaw": -0.1678466796875
                    }
                },
                "velocity": {
                    "x": 1.9163280725479126,
                    "y": 0.014466925524175167,
                    "z": 0.0004573726619128138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.7286405563354492,
                "transform": {
                    "location": {
                        "x": 574.0618286132812,
                        "y": 4294.228515625,
                        "z": 370.3171081542969
                    },
                    "rotation": {
                        "roll": -0.0011901854304596782,
                        "pitch": -0.2042226493358612,
                        "yaw": -0.1880798190832138
                    }
                },
                "velocity": {
                    "x": 1.7285758256912231,
                    "y": 0.011496295221149921,
                    "z": -0.009576091542840004
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.473453521728516,
                "transform": {
                    "location": {
                        "x": 621.5814819335938,
                        "y": 4297.29345703125,
                        "z": 370.1014709472656
                    },
                    "rotation": {
                        "roll": -0.0010986330453306437,
                        "pitch": -0.27777013182640076,
                        "yaw": -0.3022156059741974
                    }
                },
                "velocity": {
                    "x": 8.473203659057617,
                    "y": -0.050320591777563095,
                    "z": -0.04111646115779877
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077418327331543,
                "transform": {
                    "location": {
                        "x": 661.971923828125,
                        "y": 4297.0576171875,
                        "z": 369.9032287597656
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": -0.31192106008529663,
                        "yaw": -0.3686828017234802
                    }
                },
                "velocity": {
                    "x": 8.077138900756836,
                    "y": -0.05021485313773155,
                    "z": -0.044557180255651474
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.0844144821167,
                "transform": {
                    "location": {
                        "x": 664.8677978515625,
                        "y": 4293.78955078125,
                        "z": 369.8780822753906
                    },
                    "rotation": {
                        "roll": 0.0005048515158705413,
                        "pitch": -0.31310951709747314,
                        "yaw": -0.3486327528953552
                    }
                },
                "velocity": {
                    "x": 8.08414077758789,
                    "y": -0.04920405149459839,
                    "z": -0.04483172297477722
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 703.3035278320312,
                        "y": 4296.79931640625,
                        "z": 369.6578369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 705.3856811523438,
                        "y": 4293.48779296875,
                        "z": 369.6535949707031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.9248833656311035,
                "transform": {
                    "location": {
                        "x": 623.0728149414062,
                        "y": 4294.03466796875,
                        "z": 370.1062927246094
                    },
                    "rotation": {
                        "roll": -0.0004272461519576609,
                        "pitch": -0.39608946442604065,
                        "yaw": -0.3672179579734802
                    }
                },
                "velocity": {
                    "x": 7.92462158203125,
                    "y": -0.04965018108487129,
                    "z": -0.04104309529066086
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5603275299072266,
                "transform": {
                    "location": {
                        "x": 671.7138671875,
                        "y": 4287.04443359375,
                        "z": 369.8401184082031
                    },
                    "rotation": {
                        "roll": 0.00019691050692927092,
                        "pitch": 0.3341396749019623,
                        "yaw": 179.6003875732422
                    }
                },
                "velocity": {
                    "x": -2.5602362155914307,
                    "y": 0.016337456181645393,
                    "z": 0.014144553802907467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.40308117866516113,
                "transform": {
                    "location": {
                        "x": 654.2704467773438,
                        "y": 4287.15576171875,
                        "z": 369.9552917480469
                    },
                    "rotation": {
                        "roll": -0.0177001915872097,
                        "pitch": -1.090118646621704,
                        "yaw": -179.64556884765625
                    }
                },
                "velocity": {
                    "x": -0.4027956426143646,
                    "y": 0.015157441608607769,
                    "z": 0.0006020069122314453
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.552209377288818,
                "transform": {
                    "location": {
                        "x": 605.091552734375,
                        "y": 4287.44482421875,
                        "z": 370.18255615234375
                    },
                    "rotation": {
                        "roll": 0.005881511140614748,
                        "pitch": 0.3805166482925415,
                        "yaw": 179.73594665527344
                    }
                },
                "velocity": {
                    "x": -7.55203104019165,
                    "y": 0.038265254348516464,
                    "z": 0.035024795681238174
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.473451614379883,
                "transform": {
                    "location": {
                        "x": 589.2938842773438,
                        "y": 4287.5400390625,
                        "z": 370.2938232421875
                    },
                    "rotation": {
                        "roll": 0.0022932246793061495,
                        "pitch": 0.2587685286998749,
                        "yaw": 179.78057861328125
                    }
                },
                "velocity": {
                    "x": -7.473292827606201,
                    "y": 0.03573768958449364,
                    "z": 0.033144883811473846
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.773521900177002,
                "transform": {
                    "location": {
                        "x": 651.0319213867188,
                        "y": 4290.41845703125,
                        "z": 369.9613952636719
                    },
                    "rotation": {
                        "roll": 0.0008377707563340664,
                        "pitch": 0.26219046115875244,
                        "yaw": 179.69644165039062
                    }
                },
                "velocity": {
                    "x": -5.773346424102783,
                    "y": 0.034334149211645126,
                    "z": 0.029169129207730293
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.029427528381348,
                "transform": {
                    "location": {
                        "x": 622.3698120117188,
                        "y": 4290.5869140625,
                        "z": 370.108154296875
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": 0.28119203448295593,
                        "yaw": 179.62771606445312
                    }
                },
                "velocity": {
                    "x": -8.029168128967285,
                    "y": 0.049836043268442154,
                    "z": 0.04100050777196884
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044280052185059,
                "transform": {
                    "location": {
                        "x": 602.2174682617188,
                        "y": 4290.705078125,
                        "z": 370.2350769042969
                    },
                    "rotation": {
                        "roll": 0.0007715789834037423,
                        "pitch": 0.27132925391197205,
                        "yaw": 179.6408233642578
                    }
                },
                "velocity": {
                    "x": -8.044036865234375,
                    "y": 0.050386589020490646,
                    "z": 0.03712102770805359
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.860078811645508,
                "transform": {
                    "location": {
                        "x": 668.536376953125,
                        "y": 4290.31640625,
                        "z": 369.8576965332031
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": 0.3321247696876526,
                        "yaw": 179.6848907470703
                    }
                },
                "velocity": {
                    "x": -2.8599979877471924,
                    "y": 0.01576562412083149,
                    "z": 0.014611291699111462
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.99936842918396,
        "expert_target_speed": 10.0,
        "target_point": [
            52.78517830735159,
            -4.217827877031511
        ],
        "target_point_next": [
            58.74599693859264,
            -4.902259721124762
        ]
    },
    "345": {
        "acceleration": [
            2.632894515991211,
            0.6636738777160645,
            -0.0029972195625305176
        ],
        "angular_velocity": [
            0.7335904240608215,
            -0.9543077945709229,
            -2.9303364753723145
        ],
        "forward_vector": [
            -0.994563639163971,
            -0.10401579737663269,
            0.00488386582583189
        ],
        "right_vector": [
            0.1040155366063118,
            -0.9945756196975708,
            -0.00030621656333096325
        ],
        "location": [
            630.5574340820312,
            4289.00634765625,
            370.0593566894531
        ],
        "rotation": [
            0.017545124515891075,
            0.27982601523399353,
            -174.0294647216797
        ],
        "velocity": [
            -7.425225257873535,
            -0.7369562983512878,
            0.03691816329956055
        ],
        "speed": 7.461707225283148,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.355676651000977,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                603.2461547851562,
                4287.4541015625,
                370.19183349609375
            ],
            "velocity": [
                -7.080132961273193,
                0.037484850734472275,
                0.03301890194416046
            ],
            "speed_kmh": 25.489113054822166,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.0512990951538086,
                "transform": {
                    "location": {
                        "x": 574.6421508789062,
                        "y": 4297.48193359375,
                        "z": 370.3548889160156
                    },
                    "rotation": {
                        "roll": -0.005126952659338713,
                        "pitch": -0.11202875524759293,
                        "yaw": -0.007415771484375
                    }
                },
                "velocity": {
                    "x": 3.0511977672576904,
                    "y": 0.022605443373322487,
                    "z": -0.010377216152846813
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.305162191390991,
                "transform": {
                    "location": {
                        "x": 574.5686645507812,
                        "y": 4294.23095703125,
                        "z": 370.3147888183594
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.2116948664188385,
                        "yaw": -0.0461425706744194
                    }
                },
                "velocity": {
                    "x": 2.3050878047943115,
                    "y": 0.016007421538233757,
                    "z": -0.009345264174044132
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.05231761932373,
                "transform": {
                    "location": {
                        "x": 623.6395263671875,
                        "y": 4297.2802734375,
                        "z": 370.0914611816406
                    },
                    "rotation": {
                        "roll": -0.00164794921875,
                        "pitch": -0.2961706519126892,
                        "yaw": -0.1312866061925888
                    }
                },
                "velocity": {
                    "x": 8.052092552185059,
                    "y": -0.04458019509911537,
                    "z": -0.040394049137830734
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.07789134979248,
                "transform": {
                    "location": {
                        "x": 663.991455078125,
                        "y": 4297.04541015625,
                        "z": 369.8923034667969
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.3123718500137329,
                        "yaw": -0.339752197265625
                    }
                },
                "velocity": {
                    "x": 8.07761287689209,
                    "y": -0.04968584328889847,
                    "z": -0.04505182057619095
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051661491394043,
                "transform": {
                    "location": {
                        "x": 666.884765625,
                        "y": 4293.77783203125,
                        "z": 369.8670959472656
                    },
                    "rotation": {
                        "roll": 0.00026552105555310845,
                        "pitch": -0.31390181183815,
                        "yaw": -0.34869384765625
                    }
                },
                "velocity": {
                    "x": 8.051389694213867,
                    "y": -0.04901973158121109,
                    "z": -0.04440451040863991
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 705.3853759765625,
                        "y": 4296.72314453125,
                        "z": 369.65277099609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 707.468017578125,
                        "y": 4293.45068359375,
                        "z": 369.64263916015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09449291229248,
                "transform": {
                    "location": {
                        "x": 625.0736083984375,
                        "y": 4294.02294921875,
                        "z": 370.0950622558594
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": -0.24544966220855713,
                        "yaw": -0.3538513481616974
                    }
                },
                "velocity": {
                    "x": 8.09423542022705,
                    "y": -0.04983719810843468,
                    "z": -0.041090935468673706
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2520360946655273,
                "transform": {
                    "location": {
                        "x": 670.9833984375,
                        "y": 4287.04931640625,
                        "z": 369.8440856933594
                    },
                    "rotation": {
                        "roll": -0.0010375973070040345,
                        "pitch": 0.33278727531433105,
                        "yaw": 179.60986328125
                    }
                },
                "velocity": {
                    "x": -3.2519218921661377,
                    "y": 0.020663585513830185,
                    "z": 0.017776688560843468
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6058029532432556,
                "transform": {
                    "location": {
                        "x": 654.2003784179688,
                        "y": 4287.15576171875,
                        "z": 369.9482421875
                    },
                    "rotation": {
                        "roll": -0.013244629837572575,
                        "pitch": -0.18813754618167877,
                        "yaw": -179.64271545410156
                    }
                },
                "velocity": {
                    "x": -0.6057877540588379,
                    "y": 0.00037083480856381357,
                    "z": 0.004273347556591034
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.0803093910217285,
                "transform": {
                    "location": {
                        "x": 603.2461547851562,
                        "y": 4287.4541015625,
                        "z": 370.19183349609375
                    },
                    "rotation": {
                        "roll": 0.004718358162790537,
                        "pitch": 0.21801279485225677,
                        "yaw": 179.70639038085938
                    }
                },
                "velocity": {
                    "x": -7.080132961273193,
                    "y": 0.037484850734472275,
                    "z": 0.03301890194416046
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.435435771942139,
                "transform": {
                    "location": {
                        "x": 587.4597778320312,
                        "y": 4287.54931640625,
                        "z": 370.3020324707031
                    },
                    "rotation": {
                        "roll": 0.0014603020390495658,
                        "pitch": 0.24714355170726776,
                        "yaw": 179.71156311035156
                    }
                },
                "velocity": {
                    "x": -7.435266017913818,
                    "y": 0.037489257752895355,
                    "z": 0.033515654504299164
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.712001323699951,
                "transform": {
                    "location": {
                        "x": 649.2684326171875,
                        "y": 4290.42919921875,
                        "z": 369.9715576171875
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": 0.1523473560810089,
                        "yaw": 179.66024780273438
                    }
                },
                "velocity": {
                    "x": -7.7117509841918945,
                    "y": 0.046656444668769836,
                    "z": 0.04101134091615677
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030759811401367,
                "transform": {
                    "location": {
                        "x": 620.3619995117188,
                        "y": 4290.5986328125,
                        "z": 370.1180725097656
                    },
                    "rotation": {
                        "roll": 0.0007321381126530468,
                        "pitch": 0.2797030508518219,
                        "yaw": 179.6676483154297
                    }
                },
                "velocity": {
                    "x": -8.03052806854248,
                    "y": 0.046850260347127914,
                    "z": 0.03905438259243965
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00823974609375,
                "transform": {
                    "location": {
                        "x": 600.2110595703125,
                        "y": 4290.716796875,
                        "z": 370.24444580078125
                    },
                    "rotation": {
                        "roll": 0.0008048462914302945,
                        "pitch": 0.2679961323738098,
                        "yaw": 179.64401245117188
                    }
                },
                "velocity": {
                    "x": -8.0079984664917,
                    "y": 0.04961978644132614,
                    "z": 0.03747421130537987
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.550466775894165,
                "transform": {
                    "location": {
                        "x": 667.7341918945312,
                        "y": 4290.3203125,
                        "z": 369.8620300292969
                    },
                    "rotation": {
                        "roll": -0.000152587890625,
                        "pitch": 0.3311070501804352,
                        "yaw": 179.68502807617188
                    }
                },
                "velocity": {
                    "x": -3.550363302230835,
                    "y": 0.01954609900712967,
                    "z": 0.01876494288444519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.8921277523040771,
        "expert_target_speed": 10.0,
        "target_point": [
            50.878522461122536,
            -3.998964569630445
        ],
        "target_point_next": [
            56.84214675946762,
            -4.6585029930353485
        ]
    },
    "350": {
        "acceleration": [
            0.7331371307373047,
            -0.7705461978912354,
            -0.006294846534729004
        ],
        "angular_velocity": [
            -0.696368396282196,
            0.039920490235090256,
            3.760637044906616
        ],
        "forward_vector": [
            -0.994526207447052,
            -0.10445895045995712,
            0.0024316285271197557
        ],
        "right_vector": [
            0.10446187853813171,
            -0.9945282936096191,
            0.0011046754661947489
        ],
        "location": [
            628.7783203125,
            4288.82080078125,
            370.06884765625
        ],
        "rotation": [
            -0.0632934421300888,
            0.1393221914768219,
            -174.0039825439453
        ],
        "velocity": [
            -6.954222679138184,
            -0.7998690605163574,
            0.036152828484773636
        ],
        "speed": 7.00007168427661,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.289016723632812,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                601.5233764648438,
                4287.4638671875,
                370.2001037597656
            ],
            "velocity": [
                -6.924754619598389,
                0.03630516305565834,
                0.03376798704266548
            ],
            "speed_kmh": 24.92975563638111,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.424590587615967,
                "transform": {
                    "location": {
                        "x": 575.5863037109375,
                        "y": 4297.4873046875,
                        "z": 370.3509826660156
                    },
                    "rotation": {
                        "roll": -0.006591796409338713,
                        "pitch": -0.08996724337339401,
                        "yaw": 0.17213374376296997
                    }
                },
                "velocity": {
                    "x": 4.424419403076172,
                    "y": 0.034123681485652924,
                    "z": -0.018740244209766388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8724148273468018,
                "transform": {
                    "location": {
                        "x": 575.2188110351562,
                        "y": 4294.23388671875,
                        "z": 370.3121337890625
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.21420155465602875,
                        "yaw": 0.09777981042861938
                    }
                },
                "velocity": {
                    "x": 2.872316598892212,
                    "y": 0.021238382905721664,
                    "z": -0.010653714649379253
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.062253475189209,
                "transform": {
                    "location": {
                        "x": 625.5821533203125,
                        "y": 4297.26904296875,
                        "z": 370.0820617675781
                    },
                    "rotation": {
                        "roll": -0.00103759765625,
                        "pitch": -0.3141203820705414,
                        "yaw": -0.108184814453125
                    }
                },
                "velocity": {
                    "x": 7.062053680419922,
                    "y": -0.03885350003838539,
                    "z": -0.036247409880161285
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078422546386719,
                "transform": {
                    "location": {
                        "x": 666.010986328125,
                        "y": 4297.03369140625,
                        "z": 369.8813171386719
                    },
                    "rotation": {
                        "roll": 0.0005520291160792112,
                        "pitch": -0.314789742231369,
                        "yaw": -0.370880126953125
                    }
                },
                "velocity": {
                    "x": 8.078140258789062,
                    "y": -0.050534747540950775,
                    "z": -0.04481620341539383
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084175109863281,
                "transform": {
                    "location": {
                        "x": 668.9017333984375,
                        "y": 4293.76611328125,
                        "z": 369.8560485839844
                    },
                    "rotation": {
                        "roll": 3.066814679186791e-05,
                        "pitch": -0.3127133548259735,
                        "yaw": -0.3505554497241974
                    }
                },
                "velocity": {
                    "x": 8.083898544311523,
                    "y": -0.04960491135716438,
                    "z": -0.04473956301808357
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44922,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 707.4677734375,
                        "y": 4296.68603515625,
                        "z": 369.6434631347656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 44919,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 709.5509033203125,
                        "y": 4293.43017578125,
                        "z": 369.6308898925781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.33312880992889404,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.15433120727539,
                "transform": {
                    "location": {
                        "x": 627.111328125,
                        "y": 4294.01123046875,
                        "z": 370.0850830078125
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.24697962403297424,
                        "yaw": -0.343658447265625
                    }
                },
                "velocity": {
                    "x": 8.154080390930176,
                    "y": -0.049031518399715424,
                    "z": -0.040970224887132645
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2569642066955566,
                "transform": {
                    "location": {
                        "x": 670.1502075195312,
                        "y": 4287.05517578125,
                        "z": 369.8487854003906
                    },
                    "rotation": {
                        "roll": 6.594668957404792e-05,
                        "pitch": 0.3175491392612457,
                        "yaw": 179.62353515625
                    }
                },
                "velocity": {
                    "x": -3.2568583488464355,
                    "y": 0.019694218412041664,
                    "z": 0.017359895631670952
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.889365017414093,
                "transform": {
                    "location": {
                        "x": 653.985107421875,
                        "y": 4287.15576171875,
                        "z": 369.94329833984375
                    },
                    "rotation": {
                        "roll": 0.008909673430025578,
                        "pitch": 0.5914055705070496,
                        "yaw": -179.73468017578125
                    }
                },
                "velocity": {
                    "x": -0.8893417119979858,
                    "y": 0.0036365073174238205,
                    "z": 0.00531425466760993
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.92493200302124,
                "transform": {
                    "location": {
                        "x": 601.5233764648438,
                        "y": 4287.4638671875,
                        "z": 370.2001037597656
                    },
                    "rotation": {
                        "roll": 0.002324846340343356,
                        "pitch": 0.17039954662322998,
                        "yaw": 179.70004272460938
                    }
                },
                "velocity": {
                    "x": -6.924754619598389,
                    "y": 0.03630516305565834,
                    "z": 0.03376798704266548
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.6109514236450195,
                "transform": {
                    "location": {
                        "x": 585.544189453125,
                        "y": 4287.55908203125,
                        "z": 370.3101501464844
                    },
                    "rotation": {
                        "roll": 0.0008718472672626376,
                        "pitch": 0.2629827558994293,
                        "yaw": 179.7255096435547
                    }
                },
                "velocity": {
                    "x": -7.610777378082275,
                    "y": 0.039894863963127136,
                    "z": 0.03253834694623947
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.723341941833496,
                "transform": {
                    "location": {
                        "x": 647.2055053710938,
                        "y": 4290.44091796875,
                        "z": 369.9822082519531
                    },
                    "rotation": {
                        "roll": 0.0003574925649445504,
                        "pitch": 0.19628596305847168,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -8.723071098327637,
                    "y": 0.05152526870369911,
                    "z": 0.04543018341064453
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031196594238281,
                "transform": {
                    "location": {
                        "x": 618.3541870117188,
                        "y": 4290.6103515625,
                        "z": 370.12786865234375
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": 0.2730436325073242,
                        "yaw": 179.6339874267578
                    }
                },
                "velocity": {
                    "x": -8.0309476852417,
                    "y": 0.05089951306581497,
                    "z": 0.03742785379290581
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.042866706848145,
                "transform": {
                    "location": {
                        "x": 598.2047119140625,
                        "y": 4290.728515625,
                        "z": 370.2537841796875
                    },
                    "rotation": {
                        "roll": -6.103527266532183e-05,
                        "pitch": 0.268624484539032,
                        "yaw": 179.6449432373047
                    }
                },
                "velocity": {
                    "x": -8.042625427246094,
                    "y": 0.049882691353559494,
                    "z": 0.037264373153448105
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.2830119132995605,
                "transform": {
                    "location": {
                        "x": 666.7509155273438,
                        "y": 4290.326171875,
                        "z": 369.86737060546875
                    },
                    "rotation": {
                        "roll": -0.00024414053768850863,
                        "pitch": 0.3304855227470398,
                        "yaw": 179.68292236328125
                    }
                },
                "velocity": {
                    "x": -4.282874584197998,
                    "y": 0.025330202654004097,
                    "z": 0.02314182184636593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.9484443068504333,
        "expert_target_speed": 10.0,
        "target_point": [
            49.087973789689336,
            -4.020309997240352
        ],
        "target_point_next": [
            55.05130376067201,
            -4.6825043500847245
        ]
    },
    "355": {
        "acceleration": [
            -1.2453460693359375,
            0.24235248565673828,
            0.004083812236785889
        ],
        "angular_velocity": [
            0.5665663480758667,
            0.7064096331596375,
            -0.3004220128059387
        ],
        "forward_vector": [
            -0.9932639002799988,
            -0.11578701436519623,
            0.004489406943321228
        ],
        "right_vector": [
            0.11578920483589172,
            -0.9932737946510315,
            0.00022956219618208706
        ],
        "location": [
            627.0293579101562,
            4288.61474609375,
            370.07720947265625
        ],
        "rotation": [
            -0.01315307803452015,
            0.2572249174118042,
            -173.3509063720703
        ],
        "velocity": [
            -7.098229885101318,
            -0.823586642742157,
            0.03572380915284157
        ],
        "speed": 7.1458493169006,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.334688186645508,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                599.7188110351562,
                4287.4736328125,
                370.2079162597656
            ],
            "velocity": [
                -7.257311820983887,
                0.03894713148474693,
                0.03328603506088257
            ],
            "speed_kmh": 26.126973575062376,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.28438138961792,
                "transform": {
                    "location": {
                        "x": 576.8450927734375,
                        "y": 4297.49365234375,
                        "z": 370.3464050292969
                    },
                    "rotation": {
                        "roll": 0.005060036201030016,
                        "pitch": -0.1235307976603508,
                        "yaw": 0.21484017372131348
                    }
                },
                "velocity": {
                    "x": 5.284332752227783,
                    "y": 0.007456637918949127,
                    "z": -0.02133367583155632
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.5140392780303955,
                "transform": {
                    "location": {
                        "x": 576.0169677734375,
                        "y": 4294.23876953125,
                        "z": 370.3088684082031
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": -0.21426302194595337,
                        "yaw": 0.22403627634048462
                    }
                },
                "velocity": {
                    "x": 3.5139055252075195,
                    "y": 0.02729063481092453,
                    "z": -0.0139950942248106
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.911442279815674,
                "transform": {
                    "location": {
                        "x": 627.3006591796875,
                        "y": 4297.2607421875,
                        "z": 370.07330322265625
                    },
                    "rotation": {
                        "roll": -0.0008544922457076609,
                        "pitch": -0.2988002598285675,
                        "yaw": -0.2484130859375
                    }
                },
                "velocity": {
                    "x": 6.911255359649658,
                    "y": -0.0380115807056427,
                    "z": -0.03379249945282936
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077995300292969,
                "transform": {
                    "location": {
                        "x": 668.0304565429688,
                        "y": 4297.02197265625,
                        "z": 369.87030029296875
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -0.3161011338233948,
                        "yaw": -0.345672607421875
                    }
                },
                "velocity": {
                    "x": 8.077713966369629,
                    "y": -0.05047307536005974,
                    "z": -0.04468541964888573
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051713943481445,
                "transform": {
                    "location": {
                        "x": 670.9185791015625,
                        "y": 4293.75439453125,
                        "z": 369.84503173828125
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.3136627674102783,
                        "yaw": -0.354248046875
                    }
                },
                "velocity": {
                    "x": 8.051434516906738,
                    "y": -0.04980321228504181,
                    "z": -0.04492904245853424
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.027448654174805,
                "transform": {
                    "location": {
                        "x": 629.131591796875,
                        "y": 4293.99951171875,
                        "z": 370.07550048828125
                    },
                    "rotation": {
                        "roll": 0.0006598771433345973,
                        "pitch": -0.3161011338233948,
                        "yaw": -0.3432922065258026
                    }
                },
                "velocity": {
                    "x": 8.02719497680664,
                    "y": -0.04899391531944275,
                    "z": -0.0408390574157238
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2493607997894287,
                "transform": {
                    "location": {
                        "x": 669.3445434570312,
                        "y": 4287.060546875,
                        "z": 369.853271484375
                    },
                    "rotation": {
                        "roll": 0.00030955401598475873,
                        "pitch": 0.3129456043243408,
                        "yaw": 179.6333465576172
                    }
                },
                "velocity": {
                    "x": -3.2492516040802,
                    "y": 0.01996796578168869,
                    "z": 0.017598571255803108
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.865018367767334,
                "transform": {
                    "location": {
                        "x": 653.7676391601562,
                        "y": 4287.15576171875,
                        "z": 369.9461669921875
                    },
                    "rotation": {
                        "roll": 0.0038013749290257692,
                        "pitch": 0.3714393377304077,
                        "yaw": -179.79220581054688
                    }
                },
                "velocity": {
                    "x": -0.8649870753288269,
                    "y": 0.004532195162028074,
                    "z": 0.0057935044169425964
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.257492542266846,
                "transform": {
                    "location": {
                        "x": 599.7188110351562,
                        "y": 4287.4736328125,
                        "z": 370.2079162597656
                    },
                    "rotation": {
                        "roll": 0.0006202366785146296,
                        "pitch": 0.3521440327167511,
                        "yaw": 179.69345092773438
                    }
                },
                "velocity": {
                    "x": -7.257311820983887,
                    "y": 0.03894713148474693,
                    "z": 0.03328603506088257
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.742026329040527,
                "transform": {
                    "location": {
                        "x": 583.767822265625,
                        "y": 4287.568359375,
                        "z": 370.3185119628906
                    },
                    "rotation": {
                        "roll": 0.0013889766996726394,
                        "pitch": 0.17923098802566528,
                        "yaw": 179.67100524902344
                    }
                },
                "velocity": {
                    "x": -6.741853713989258,
                    "y": 0.03856409713625908,
                    "z": 0.02906435914337635
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.250622749328613,
                "transform": {
                    "location": {
                        "x": 644.958740234375,
                        "y": 4290.45458984375,
                        "z": 369.9936218261719
                    },
                    "rotation": {
                        "roll": 0.00015317113138735294,
                        "pitch": 0.23242449760437012,
                        "yaw": 179.65797424316406
                    }
                },
                "velocity": {
                    "x": -9.25033187866211,
                    "y": 0.05519483983516693,
                    "z": 0.048344459384679794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030322074890137,
                "transform": {
                    "location": {
                        "x": 616.3463745117188,
                        "y": 4290.62255859375,
                        "z": 370.137451171875
                    },
                    "rotation": {
                        "roll": -9.155267616733909e-05,
                        "pitch": 0.2729138433933258,
                        "yaw": 179.66839599609375
                    }
                },
                "velocity": {
                    "x": -8.030083656311035,
                    "y": 0.04905182123184204,
                    "z": 0.037790630012750626
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00915813446045,
                "transform": {
                    "location": {
                        "x": 596.1984252929688,
                        "y": 4290.740234375,
                        "z": 370.26300048828125
                    },
                    "rotation": {
                        "roll": 0.0005850744782947004,
                        "pitch": 0.2628529965877533,
                        "yaw": 179.64479064941406
                    }
                },
                "velocity": {
                    "x": -8.00892448425293,
                    "y": 0.04964341223239899,
                    "z": 0.03574790060520172
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.047518730163574,
                "transform": {
                    "location": {
                        "x": 665.5828247070312,
                        "y": 4290.33251953125,
                        "z": 369.8738708496094
                    },
                    "rotation": {
                        "roll": 0.00028411761741153896,
                        "pitch": 0.3312368392944336,
                        "yaw": 179.6813201904297
                    }
                },
                "velocity": {
                    "x": -5.047343730926514,
                    "y": 0.02801499515771866,
                    "z": 0.03131435438990593
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.7246213555335999,
        "expert_target_speed": 10.0,
        "target_point": [
            47.277903806629276,
            -4.581715899897881
        ],
        "target_point_next": [
            53.23329866246513,
            -5.311837680728354
        ]
    },
    "360": {
        "acceleration": [
            -1.842641830444336,
            0.1359391212463379,
            -0.008636265993118286
        ],
        "angular_velocity": [
            0.11679716408252716,
            0.4597510099411011,
            -2.182499885559082
        ],
        "forward_vector": [
            -0.9940619468688965,
            -0.10859960317611694,
            0.006848996505141258
        ],
        "right_vector": [
            0.1085907593369484,
            -0.9940851926803589,
            -0.0016508308472111821
        ],
        "location": [
            625.201904296875,
            4288.4140625,
            370.0857849121094
        ],
        "rotation": [
            0.09458789974451065,
            0.3924216628074646,
            -173.7652587890625
        ],
        "velocity": [
            -7.515233039855957,
            -0.7799394130706787,
            0.036675386130809784
        ],
        "speed": 7.55559614665869,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.229463577270508,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                597.9886474609375,
                4287.48388671875,
                370.216552734375
            ],
            "velocity": [
                -6.774547100067139,
                0.03710546717047691,
                0.03273406997323036
            ],
            "speed_kmh": 24.38902007520854,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.658995151519775,
                "transform": {
                    "location": {
                        "x": 578.2152099609375,
                        "y": 4297.49658203125,
                        "z": 370.34112548828125
                    },
                    "rotation": {
                        "roll": 0.0017049324233084917,
                        "pitch": -0.18261875212192535,
                        "yaw": 0.07695826143026352
                    }
                },
                "velocity": {
                    "x": 5.658945083618164,
                    "y": 0.004717202857136726,
                    "z": -0.023343829438090324
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.350658893585205,
                "transform": {
                    "location": {
                        "x": 577.0,
                        "y": 4294.24365234375,
                        "z": 370.30487060546875
                    },
                    "rotation": {
                        "roll": 0.0003303544071968645,
                        "pitch": -0.21092988550662994,
                        "yaw": 0.24639679491519928
                    }
                },
                "velocity": {
                    "x": 4.35061502456665,
                    "y": 0.008459377102553844,
                    "z": -0.017611170187592506
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.737635135650635,
                "transform": {
                    "location": {
                        "x": 629.1243896484375,
                        "y": 4297.25146484375,
                        "z": 370.0638732910156
                    },
                    "rotation": {
                        "roll": 0.0010640050750225782,
                        "pitch": -0.26706036925315857,
                        "yaw": -0.3551330268383026
                    }
                },
                "velocity": {
                    "x": 7.737409591674805,
                    "y": -0.045619748532772064,
                    "z": -0.03751399368047714
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078441619873047,
                "transform": {
                    "location": {
                        "x": 670.050048828125,
                        "y": 4297.01025390625,
                        "z": 369.8592529296875
                    },
                    "rotation": {
                        "roll": 2.1196043235249817e-05,
                        "pitch": -0.3150083124637604,
                        "yaw": -0.3719482719898224
                    }
                },
                "velocity": {
                    "x": 8.078157424926758,
                    "y": -0.05067749321460724,
                    "z": -0.04498755931854248
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084555625915527,
                "transform": {
                    "location": {
                        "x": 672.9356079101562,
                        "y": 4293.7431640625,
                        "z": 369.83392333984375
                    },
                    "rotation": {
                        "roll": 4.8864796553971246e-05,
                        "pitch": -0.31662023067474365,
                        "yaw": -0.354827880859375
                    }
                },
                "velocity": {
                    "x": 8.084274291992188,
                    "y": -0.050040893256664276,
                    "z": -0.045296262949705124
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078712463378906,
                "transform": {
                    "location": {
                        "x": 631.14306640625,
                        "y": 4293.9873046875,
                        "z": 370.065185546875
                    },
                    "rotation": {
                        "roll": 0.00016088635311461985,
                        "pitch": -0.301908016204834,
                        "yaw": -0.3421630859375
                    }
                },
                "velocity": {
                    "x": 8.078463554382324,
                    "y": -0.04812491312623024,
                    "z": -0.04137552157044411
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.8455286026000977,
                "transform": {
                    "location": {
                        "x": 668.5517578125,
                        "y": 4287.0654296875,
                        "z": 369.8575744628906
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.30673694610595703,
                        "yaw": 179.63999938964844
                    }
                },
                "velocity": {
                    "x": -2.845428466796875,
                    "y": 0.017593247815966606,
                    "z": 0.01609518937766552
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8363046646118164,
                "transform": {
                    "location": {
                        "x": 653.4509887695312,
                        "y": 4287.15673828125,
                        "z": 369.94744873046875
                    },
                    "rotation": {
                        "roll": 0.006084673572331667,
                        "pitch": 0.4363466203212738,
                        "yaw": -179.868896484375
                    }
                },
                "velocity": {
                    "x": -1.8362629413604736,
                    "y": 0.008669840171933174,
                    "z": 0.00884650181978941
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.774727821350098,
                "transform": {
                    "location": {
                        "x": 597.9886474609375,
                        "y": 4287.48388671875,
                        "z": 370.216552734375
                    },
                    "rotation": {
                        "roll": 0.0010855619329959154,
                        "pitch": 0.16132906079292297,
                        "yaw": 179.68722534179688
                    }
                },
                "velocity": {
                    "x": -6.774547100067139,
                    "y": 0.03710546717047691,
                    "z": 0.03273406997323036
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.963438034057617,
                "transform": {
                    "location": {
                        "x": 582.0809326171875,
                        "y": 4287.578125,
                        "z": 370.32513427734375
                    },
                    "rotation": {
                        "roll": 0.0005146876210346818,
                        "pitch": 0.24567505717277527,
                        "yaw": 179.694091796875
                    }
                },
                "velocity": {
                    "x": -6.963268280029297,
                    "y": 0.03879809007048607,
                    "z": 0.029247025027871132
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.108450889587402,
                "transform": {
                    "location": {
                        "x": 642.5360717773438,
                        "y": 4290.46923828125,
                        "z": 370.00640869140625
                    },
                    "rotation": {
                        "roll": 0.0015356289222836494,
                        "pitch": 0.21846358478069305,
                        "yaw": 179.6542510986328
                    }
                },
                "velocity": {
                    "x": -10.108129501342773,
                    "y": 0.061023492366075516,
                    "z": 0.05272070690989494
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030329704284668,
                "transform": {
                    "location": {
                        "x": 614.3385620117188,
                        "y": 4290.6337890625,
                        "z": 370.1470947265625
                    },
                    "rotation": {
                        "roll": -0.0001220702106365934,
                        "pitch": 0.2728523910045624,
                        "yaw": 179.63194274902344
                    }
                },
                "velocity": {
                    "x": -8.0300931930542,
                    "y": 0.0489901639521122,
                    "z": 0.03728779777884483
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043957710266113,
                "transform": {
                    "location": {
                        "x": 594.1918334960938,
                        "y": 4290.751953125,
                        "z": 370.2721252441406
                    },
                    "rotation": {
                        "roll": -0.00024414058134425431,
                        "pitch": 0.2616645395755768,
                        "yaw": 179.64486694335938
                    }
                },
                "velocity": {
                    "x": -8.04371452331543,
                    "y": 0.04985089600086212,
                    "z": 0.03780083730816841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.537623405456543,
                "transform": {
                    "location": {
                        "x": 664.263427734375,
                        "y": 4290.34033203125,
                        "z": 369.8812561035156
                    },
                    "rotation": {
                        "roll": 0.0006635196041315794,
                        "pitch": 0.323259174823761,
                        "yaw": 179.68016052246094
                    }
                },
                "velocity": {
                    "x": -5.537453651428223,
                    "y": 0.03190434351563454,
                    "z": 0.029323004186153412
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.5452158451080322,
        "expert_target_speed": 10.0,
        "target_point": [
            45.47136350112086,
            -4.2407077877010755
        ],
        "target_point_next": [
            51.431882943291946,
            -4.927740307498856
        ]
    },
    "365": {
        "acceleration": [
            -1.4495086669921875,
            0.340578556060791,
            0.0014360249042510986
        ],
        "angular_velocity": [
            0.23617571592330933,
            0.06611383706331253,
            -3.1373887062072754
        ],
        "forward_vector": [
            -0.9951710104942322,
            -0.09782721102237701,
            0.008030803874135017
        ],
        "right_vector": [
            0.09781068563461304,
            -0.9952020645141602,
            -0.0024265393149107695
        ],
        "location": [
            623.2617797851562,
            4288.2216796875,
            370.09515380859375
        ],
        "rotation": [
            0.13903507590293884,
            0.46013614535331726,
            -174.38575744628906
        ],
        "velocity": [
            -7.964960098266602,
            -0.7332730889320374,
            0.03755282238125801
        ],
        "speed": 7.998642309162914,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.047718048095703,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                596.2241821289062,
                4287.4931640625,
                370.2239685058594
            ],
            "velocity": [
                -7.470012664794922,
                0.04136672988533974,
                0.033285532146692276
            ],
            "speed_kmh": 26.892724892685,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.933044910430908,
                "transform": {
                    "location": {
                        "x": 579.889892578125,
                        "y": 4297.4990234375,
                        "z": 370.3328857421875
                    },
                    "rotation": {
                        "roll": 0.0006198770715855062,
                        "pitch": -0.03298981115221977,
                        "yaw": 0.05054464191198349
                    }
                },
                "velocity": {
                    "x": 7.932973384857178,
                    "y": 0.004168018698692322,
                    "z": -0.03340070694684982
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.277631759643555,
                "transform": {
                    "location": {
                        "x": 578.2139892578125,
                        "y": 4294.24609375,
                        "z": 370.3000793457031
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": -0.2062375545501709,
                        "yaw": 0.1497306227684021
                    }
                },
                "velocity": {
                    "x": 5.277590274810791,
                    "y": 0.006037934683263302,
                    "z": -0.020029958337545395
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.751790046691895,
                "transform": {
                    "location": {
                        "x": 631.1521606445312,
                        "y": 4297.23876953125,
                        "z": 370.0536193847656
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.25533977150917053,
                        "yaw": -0.3135986328125
                    }
                },
                "velocity": {
                    "x": 8.75151252746582,
                    "y": -0.05336591601371765,
                    "z": -0.04475712031126022
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078100204467773,
                "transform": {
                    "location": {
                        "x": 672.0695190429688,
                        "y": 4296.998046875,
                        "z": 369.84820556640625
                    },
                    "rotation": {
                        "roll": -9.155277803074569e-05,
                        "pitch": -0.3170163929462433,
                        "yaw": -0.3455810546875
                    }
                },
                "velocity": {
                    "x": 8.077817916870117,
                    "y": -0.050541575998067856,
                    "z": -0.044834256172180176
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.052384376525879,
                "transform": {
                    "location": {
                        "x": 674.9525146484375,
                        "y": 4293.73095703125,
                        "z": 369.82281494140625
                    },
                    "rotation": {
                        "roll": -6.10351053182967e-05,
                        "pitch": -0.3161899447441101,
                        "yaw": -0.3558043837547302
                    }
                },
                "velocity": {
                    "x": 8.05209732055664,
                    "y": -0.05076222121715546,
                    "z": -0.045210469514131546
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.082771301269531,
                "transform": {
                    "location": {
                        "x": 633.1648559570312,
                        "y": 4293.97607421875,
                        "z": 370.0546875
                    },
                    "rotation": {
                        "roll": 0.000727643258869648,
                        "pitch": -0.2810690999031067,
                        "yaw": -0.3458252251148224
                    }
                },
                "velocity": {
                    "x": 8.08252239227295,
                    "y": -0.04881768301129341,
                    "z": -0.04052242636680603
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.970154881477356,
                "transform": {
                    "location": {
                        "x": 667.9955444335938,
                        "y": 4287.0693359375,
                        "z": 369.86083984375
                    },
                    "rotation": {
                        "roll": -0.00015258771600201726,
                        "pitch": 0.2938483953475952,
                        "yaw": 179.64328002929688
                    }
                },
                "velocity": {
                    "x": -1.970092535018921,
                    "y": 0.01171125378459692,
                    "z": 0.010414962656795979
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.38034355640411377,
                "transform": {
                    "location": {
                        "x": 652.9852905273438,
                        "y": 4287.15869140625,
                        "z": 369.9510498046875
                    },
                    "rotation": {
                        "roll": 0.0006164683727547526,
                        "pitch": 0.28567948937416077,
                        "yaw": -179.86257934570312
                    }
                },
                "velocity": {
                    "x": -0.3802770972251892,
                    "y": 0.006960486993193626,
                    "z": 0.0014474201016128063
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.47020149230957,
                "transform": {
                    "location": {
                        "x": 596.2241821289062,
                        "y": 4287.4931640625,
                        "z": 370.2239685058594
                    },
                    "rotation": {
                        "roll": 0.001148615381680429,
                        "pitch": 0.3920118510723114,
                        "yaw": 179.68368530273438
                    }
                },
                "velocity": {
                    "x": -7.470012664794922,
                    "y": 0.04136672988533974,
                    "z": 0.033285532146692276
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.07603931427002,
                "transform": {
                    "location": {
                        "x": 580.2007446289062,
                        "y": 4287.5888671875,
                        "z": 370.3322448730469
                    },
                    "rotation": {
                        "roll": 0.0015584800858050585,
                        "pitch": 0.33356592059135437,
                        "yaw": 179.664306640625
                    }
                },
                "velocity": {
                    "x": -8.07582950592041,
                    "y": 0.04717881232500076,
                    "z": 0.033936757594347
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.914178848266602,
                "transform": {
                    "location": {
                        "x": 639.9047241210938,
                        "y": 4290.48486328125,
                        "z": 370.0201721191406
                    },
                    "rotation": {
                        "roll": 0.001063395175151527,
                        "pitch": 0.21284234523773193,
                        "yaw": 179.65431213378906
                    }
                },
                "velocity": {
                    "x": -10.913826942443848,
                    "y": 0.06588482856750488,
                    "z": 0.057851169258356094
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03011703491211,
                "transform": {
                    "location": {
                        "x": 612.3307495117188,
                        "y": 4290.64599609375,
                        "z": 370.1567077636719
                    },
                    "rotation": {
                        "roll": 0.00030631819390691817,
                        "pitch": 0.2730094790458679,
                        "yaw": 179.6670379638672
                    }
                },
                "velocity": {
                    "x": -8.029875755310059,
                    "y": 0.049307599663734436,
                    "z": 0.037988949567079544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007040023803711,
                "transform": {
                    "location": {
                        "x": 592.1857299804688,
                        "y": 4290.763671875,
                        "z": 370.2811279296875
                    },
                    "rotation": {
                        "roll": 0.00013454454892780632,
                        "pitch": 0.2587275505065918,
                        "yaw": 179.64500427246094
                    }
                },
                "velocity": {
                    "x": -8.006803512573242,
                    "y": 0.049586810171604156,
                    "z": 0.03639781102538109
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.117005825042725,
                "transform": {
                    "location": {
                        "x": 662.7689208984375,
                        "y": 4290.34912109375,
                        "z": 369.88922119140625
                    },
                    "rotation": {
                        "roll": -0.0009460445144213736,
                        "pitch": 0.3227127492427826,
                        "yaw": 179.69544982910156
                    }
                },
                "velocity": {
                    "x": -6.116818904876709,
                    "y": 0.03513595461845398,
                    "z": 0.03236978501081467
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3814419209957123,
        "expert_target_speed": 10.0,
        "target_point": [
            43.564981966788594,
            -3.7496956484532586
        ],
        "target_point_next": [
            49.53259193458015,
            -4.372140004258732
        ]
    },
    "370": {
        "acceleration": [
            2.8870487213134766,
            0.6596541404724121,
            1.5273690223693848e-05
        ],
        "angular_velocity": [
            0.15156413614749908,
            -1.158617615699768,
            -2.782907485961914
        ],
        "forward_vector": [
            -0.9964278936386108,
            -0.08432494103908539,
            0.004562719259411097
        ],
        "right_vector": [
            0.08431236445903778,
            -0.9964352250099182,
            -0.0028833092655986547
        ],
        "location": [
            621.30859375,
            4288.05322265625,
            370.10540771484375
        ],
        "rotation": [
            0.16520340740680695,
            0.2614254653453827,
            -175.16275024414062
        ],
        "velocity": [
            -7.542698383331299,
            -0.5895240902900696,
            0.03752770274877548
        ],
        "speed": 7.56570139213417,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.100399017333984,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                594.2140502929688,
                4287.50439453125,
                370.2323303222656
            ],
            "velocity": [
                -8.334383010864258,
                0.046791546046733856,
                0.03664887323975563
            ],
            "speed_kmh": 30.004541772467423,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.289886474609375,
                "transform": {
                    "location": {
                        "x": 581.9653930664062,
                        "y": 4297.5,
                        "z": 370.3251953125
                    },
                    "rotation": {
                        "roll": 0.004366153385490179,
                        "pitch": -0.15771588683128357,
                        "yaw": 0.02273380011320114
                    }
                },
                "velocity": {
                    "x": 8.289800643920898,
                    "y": -0.013000587932765484,
                    "z": -0.03544484078884125
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.568527698516846,
                "transform": {
                    "location": {
                        "x": 579.5477905273438,
                        "y": 4294.24853515625,
                        "z": 370.2945861816406
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": -0.22189916670322418,
                        "yaw": 0.13581597805023193
                    }
                },
                "velocity": {
                    "x": 5.5684814453125,
                    "y": 0.005573765374720097,
                    "z": -0.021980227902531624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.342972755432129,
                "transform": {
                    "location": {
                        "x": 633.2988891601562,
                        "y": 4297.22607421875,
                        "z": 370.0429992675781
                    },
                    "rotation": {
                        "roll": 0.0010624639689922333,
                        "pitch": -0.2935410141944885,
                        "yaw": -0.3166808784008026
                    }
                },
                "velocity": {
                    "x": 8.342711448669434,
                    "y": -0.04946310818195343,
                    "z": -0.043716911226511
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078246116638184,
                "transform": {
                    "location": {
                        "x": 674.0890502929688,
                        "y": 4296.98681640625,
                        "z": 369.8370666503906
                    },
                    "rotation": {
                        "roll": 0.0005826251581311226,
                        "pitch": -0.319031298160553,
                        "yaw": -0.371734619140625
                    }
                },
                "velocity": {
                    "x": 8.077963829040527,
                    "y": -0.05061649531126022,
                    "z": -0.0447409488260746
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.08454418182373,
                "transform": {
                    "location": {
                        "x": 676.9695434570312,
                        "y": 4293.71875,
                        "z": 369.8116455078125
                    },
                    "rotation": {
                        "roll": 0.0009534752462059259,
                        "pitch": -0.31744667887687683,
                        "yaw": -0.3603210151195526
                    }
                },
                "velocity": {
                    "x": 8.084258079528809,
                    "y": -0.05099327489733696,
                    "z": -0.04485984146595001
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.091598510742188,
                "transform": {
                    "location": {
                        "x": 635.1869506835938,
                        "y": 4293.96435546875,
                        "z": 370.0445251464844
                    },
                    "rotation": {
                        "roll": 0.00016431293624918908,
                        "pitch": -0.294401615858078,
                        "yaw": -0.3465270400047302
                    }
                },
                "velocity": {
                    "x": 8.09134578704834,
                    "y": -0.048929475247859955,
                    "z": -0.04109884053468704
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.5514180660247803,
                "transform": {
                    "location": {
                        "x": 667.4375,
                        "y": 4287.0732421875,
                        "z": 369.86358642578125
                    },
                    "rotation": {
                        "roll": -0.0006408690824173391,
                        "pitch": 0.32092323899269104,
                        "yaw": 179.64901733398438
                    }
                },
                "velocity": {
                    "x": -2.5513339042663574,
                    "y": 0.014888356439769268,
                    "z": 0.014419364742934704
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002836773870512843,
                "transform": {
                    "location": {
                        "x": 652.9857788085938,
                        "y": 4287.15869140625,
                        "z": 369.95367431640625
                    },
                    "rotation": {
                        "roll": -0.007232665549963713,
                        "pitch": -0.037811923772096634,
                        "yaw": -179.8604278564453
                    }
                },
                "velocity": {
                    "x": 0.002813507802784443,
                    "y": -0.000327097688568756,
                    "z": -0.0001564161793794483
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.3345947265625,
                "transform": {
                    "location": {
                        "x": 594.2140502929688,
                        "y": 4287.50439453125,
                        "z": 370.2323303222656
                    },
                    "rotation": {
                        "roll": 0.0010948936687782407,
                        "pitch": 0.5863648653030396,
                        "yaw": 179.67919921875
                    }
                },
                "velocity": {
                    "x": -8.334383010864258,
                    "y": 0.046791546046733856,
                    "z": 0.03664887323975563
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.100747108459473,
                "transform": {
                    "location": {
                        "x": 578.146484375,
                        "y": 4287.6005859375,
                        "z": 370.34136962890625
                    },
                    "rotation": {
                        "roll": 0.0010729910572990775,
                        "pitch": 0.2668828070163727,
                        "yaw": 179.6800079345703
                    }
                },
                "velocity": {
                    "x": -8.100543975830078,
                    "y": 0.0469287633895874,
                    "z": 0.0330275259912014
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.752840995788574,
                "transform": {
                    "location": {
                        "x": 637.0661010742188,
                        "y": 4290.501953125,
                        "z": 370.034912109375
                    },
                    "rotation": {
                        "roll": -0.00021362295956350863,
                        "pitch": 0.21130554378032684,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": -11.752480506896973,
                    "y": 0.06948951631784439,
                    "z": 0.06045052409172058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030531883239746,
                "transform": {
                    "location": {
                        "x": 610.3229370117188,
                        "y": 4290.658203125,
                        "z": 370.1662902832031
                    },
                    "rotation": {
                        "roll": 0.00014579544949810952,
                        "pitch": 0.27054378390312195,
                        "yaw": 179.62863159179688
                    }
                },
                "velocity": {
                    "x": -8.030284881591797,
                    "y": 0.050935130566358566,
                    "z": 0.03719046339392662
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043534278869629,
                "transform": {
                    "location": {
                        "x": 590.1792602539062,
                        "y": 4290.775390625,
                        "z": 370.29010009765625
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.25305166840553284,
                        "yaw": 179.6433563232422
                    }
                },
                "velocity": {
                    "x": -8.043304443359375,
                    "y": 0.04854470118880272,
                    "z": 0.03666360676288605
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.412557601928711,
                "transform": {
                    "location": {
                        "x": 661.0469360351562,
                        "y": 4290.35888671875,
                        "z": 369.8984680175781
                    },
                    "rotation": {
                        "roll": -0.0010375974234193563,
                        "pitch": 0.3338527977466583,
                        "yaw": 179.6787109375
                    }
                },
                "velocity": {
                    "x": -7.41232967376709,
                    "y": 0.04306800663471222,
                    "z": 0.03901490196585655
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.3219255805015564,
        "expert_target_speed": 10.0,
        "target_point": [
            41.65139054006422,
            -3.1617266943829416
        ],
        "target_point_next": [
            47.62689263627642,
            -3.7031880521202756
        ]
    },
    "375": {
        "acceleration": [
            2.364950180053711,
            0.5291247367858887,
            -0.02146780490875244
        ],
        "angular_velocity": [
            -0.021177899092435837,
            -0.32588088512420654,
            -3.2836594581604004
        ],
        "forward_vector": [
            -0.9974740147590637,
            -0.07102571427822113,
            0.0009822843130677938
        ],
        "right_vector": [
            0.0710226520895958,
            -0.9974705576896667,
            -0.0028637992218136787
        ],
        "location": [
            619.5253295898438,
            4287.923828125,
            370.1148986816406
        ],
        "rotation": [
            0.16408391296863556,
            0.05628075450658798,
            -175.92709350585938
        ],
        "velocity": [
            -6.81269645690918,
            -0.4363206624984741,
            0.03316687420010567
        ],
        "speed": 6.826654285556432,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.302661895751953,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                592.2260131835938,
                4287.51611328125,
                370.24273681640625
            ],
            "velocity": [
                -7.471780300140381,
                0.04249146208167076,
                0.03381748124957085
            ],
            "speed_kmh": 26.899119539483095,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.7838544845581055,
                "transform": {
                    "location": {
                        "x": 583.961669921875,
                        "y": 4297.49658203125,
                        "z": 370.3175964355469
                    },
                    "rotation": {
                        "roll": 0.0018073878018185496,
                        "pitch": -0.26727211475372314,
                        "yaw": -0.1170959323644638
                    }
                },
                "velocity": {
                    "x": 7.783750534057617,
                    "y": -0.022822180762887,
                    "z": -0.033142708241939545
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.733865261077881,
                "transform": {
                    "location": {
                        "x": 581.0972290039062,
                        "y": 4294.2509765625,
                        "z": 370.2879333496094
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.20737136900424957,
                        "yaw": 0.05317429080605507
                    }
                },
                "velocity": {
                    "x": 6.733806133270264,
                    "y": 0.0043953293934464455,
                    "z": -0.027905773371458054
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.061299324035645,
                "transform": {
                    "location": {
                        "x": 635.3425903320312,
                        "y": 4297.2138671875,
                        "z": 370.0326232910156
                    },
                    "rotation": {
                        "roll": -0.0008544923039153218,
                        "pitch": -0.30209243297576904,
                        "yaw": -0.3139037787914276
                    }
                },
                "velocity": {
                    "x": 8.06105899810791,
                    "y": -0.047227486968040466,
                    "z": -0.04056239500641823
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.077980041503906,
                "transform": {
                    "location": {
                        "x": 676.1085815429688,
                        "y": 4296.9736328125,
                        "z": 369.825927734375
                    },
                    "rotation": {
                        "roll": 6.79673466947861e-05,
                        "pitch": -0.31866246461868286,
                        "yaw": -0.34832763671875
                    }
                },
                "velocity": {
                    "x": 8.077701568603516,
                    "y": -0.049983177334070206,
                    "z": -0.044816188514232635
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05182933807373,
                "transform": {
                    "location": {
                        "x": 678.9863891601562,
                        "y": 4293.705078125,
                        "z": 369.8004150390625
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": -0.3204587996006012,
                        "yaw": -0.3617553114891052
                    }
                },
                "velocity": {
                    "x": 8.051543235778809,
                    "y": -0.05083499476313591,
                    "z": -0.04504101723432541
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.054963111877441,
                "transform": {
                    "location": {
                        "x": 637.2042846679688,
                        "y": 4293.95263671875,
                        "z": 370.0342102050781
                    },
                    "rotation": {
                        "roll": 0.0005699123139493167,
                        "pitch": -0.29980430006980896,
                        "yaw": -0.346649169921875
                    }
                },
                "velocity": {
                    "x": 8.05471134185791,
                    "y": -0.048696182668209076,
                    "z": -0.041102536022663116
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.2928428649902344,
                "transform": {
                    "location": {
                        "x": 666.7037353515625,
                        "y": 4287.0771484375,
                        "z": 369.86749267578125
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": 0.33026012778282166,
                        "yaw": 179.6525421142578
                    }
                },
                "velocity": {
                    "x": -3.292733669281006,
                    "y": 0.019207656383514404,
                    "z": 0.01867235079407692
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0016600830713286996,
                "transform": {
                    "location": {
                        "x": 652.9832153320312,
                        "y": 4287.15869140625,
                        "z": 369.9508972167969
                    },
                    "rotation": {
                        "roll": 0.001817086013033986,
                        "pitch": 0.3078024685382843,
                        "yaw": -179.8605194091797
                    }
                },
                "velocity": {
                    "x": 0.0016512038419023156,
                    "y": -7.670604099985212e-05,
                    "z": -0.00015335524221882224
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.471977710723877,
                "transform": {
                    "location": {
                        "x": 592.2260131835938,
                        "y": 4287.51611328125,
                        "z": 370.24273681640625
                    },
                    "rotation": {
                        "roll": 0.0005391552112996578,
                        "pitch": 0.18590408563613892,
                        "yaw": 179.6737518310547
                    }
                },
                "velocity": {
                    "x": -7.471780300140381,
                    "y": 0.04249146208167076,
                    "z": 0.03381748124957085
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.20449686050415,
                "transform": {
                    "location": {
                        "x": 576.22900390625,
                        "y": 4287.611328125,
                        "z": 370.3500671386719
                    },
                    "rotation": {
                        "roll": 9.280066296923906e-05,
                        "pitch": 0.17007170617580414,
                        "yaw": 179.65802001953125
                    }
                },
                "velocity": {
                    "x": -7.204319953918457,
                    "y": 0.041090745478868484,
                    "z": 0.029291123151779175
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.014509201049805,
                "transform": {
                    "location": {
                        "x": 634.0556640625,
                        "y": 4290.51904296875,
                        "z": 370.0500183105469
                    },
                    "rotation": {
                        "roll": -0.0002441406832076609,
                        "pitch": 0.24812710285186768,
                        "yaw": 179.66177368164062
                    }
                },
                "velocity": {
                    "x": -12.01414680480957,
                    "y": 0.07092857360839844,
                    "z": 0.06062493100762367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030767440795898,
                "transform": {
                    "location": {
                        "x": 608.3151245117188,
                        "y": 4290.669921875,
                        "z": 370.17584228515625
                    },
                    "rotation": {
                        "roll": 8.788202103460208e-05,
                        "pitch": 0.2688977122306824,
                        "yaw": 179.66384887695312
                    }
                },
                "velocity": {
                    "x": -8.030526161193848,
                    "y": 0.04975953325629234,
                    "z": 0.03733763471245766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008267402648926,
                "transform": {
                    "location": {
                        "x": 588.173095703125,
                        "y": 4290.78759765625,
                        "z": 370.2989807128906
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.2529218792915344,
                        "yaw": 179.64532470703125
                    }
                },
                "velocity": {
                    "x": -8.008030891418457,
                    "y": 0.04956338182091713,
                    "z": 0.03644747659564018
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.185640335083008,
                "transform": {
                    "location": {
                        "x": 659.0912475585938,
                        "y": 4290.3701171875,
                        "z": 369.9089660644531
                    },
                    "rotation": {
                        "roll": -0.0007934569730423391,
                        "pitch": 0.3297273516654968,
                        "yaw": 179.66500854492188
                    }
                },
                "velocity": {
                    "x": -8.185376167297363,
                    "y": 0.048764776438474655,
                    "z": 0.044078998267650604
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.30099666118621826,
        "expert_target_speed": 10.0,
        "target_point": [
            39.901911123849196,
            -2.6082228930594686
        ],
        "target_point_next": [
            45.884104639663455,
            -3.0699224090966957
        ]
    },
    "380": {
        "acceleration": [
            0.1737499237060547,
            0.3386974334716797,
            -0.005858764052391052
        ],
        "angular_velocity": [
            -0.07951848208904266,
            0.5346567630767822,
            -2.5187127590179443
        ],
        "forward_vector": [
            -0.9982717037200928,
            -0.05874523147940636,
            0.0016047946410253644
        ],
        "right_vector": [
            0.058740876615047455,
            -0.99826979637146,
            -0.002638402860611677
        ],
        "location": [
            617.8723754882812,
            4287.82666015625,
            370.1227111816406
        ],
        "rotation": [
            0.15116971731185913,
            0.091948002576828,
            -176.6322021484375
        ],
        "velocity": [
            -6.517244815826416,
            -0.3326704800128937,
            0.03275004401803017
        ],
        "speed": 6.525729816479403,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.373844146728516,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                590.50048828125,
                4287.52587890625,
                370.251708984375
            ],
            "velocity": [
                -6.061709403991699,
                0.03525916859507561,
                0.0275046918541193
            ],
            "speed_kmh": 21.82274765414958,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.14447021484375,
                "transform": {
                    "location": {
                        "x": 585.9453735351562,
                        "y": 4297.4912109375,
                        "z": 370.3087158203125
                    },
                    "rotation": {
                        "roll": 0.0006334531353786588,
                        "pitch": -0.22836053371429443,
                        "yaw": -0.1712646335363388
                    }
                },
                "velocity": {
                    "x": 8.14434814453125,
                    "y": -0.02710309997200966,
                    "z": -0.03536340966820717
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.6615424156188965,
                "transform": {
                    "location": {
                        "x": 582.9219970703125,
                        "y": 4294.2509765625,
                        "z": 370.28021240234375
                    },
                    "rotation": {
                        "roll": 0.0015682561788707972,
                        "pitch": -0.20965947210788727,
                        "yaw": -0.061431884765625
                    }
                },
                "velocity": {
                    "x": 7.6614556312561035,
                    "y": -0.01505172811448574,
                    "z": -0.03324679285287857
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.918543815612793,
                "transform": {
                    "location": {
                        "x": 637.2355346679688,
                        "y": 4297.203125,
                        "z": 370.0232849121094
                    },
                    "rotation": {
                        "roll": 0.000417516304878518,
                        "pitch": -0.33049917221069336,
                        "yaw": -0.3309020698070526
                    }
                },
                "velocity": {
                    "x": 6.918324947357178,
                    "y": -0.04064403474330902,
                    "z": -0.037091612815856934
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078474044799805,
                "transform": {
                    "location": {
                        "x": 678.1281127929688,
                        "y": 4296.96142578125,
                        "z": 369.8147277832031
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.32123062014579773,
                        "yaw": -0.3732604682445526
                    }
                },
                "velocity": {
                    "x": 8.078189849853516,
                    "y": -0.0508468821644783,
                    "z": -0.04479193687438965
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.084144592285156,
                "transform": {
                    "location": {
                        "x": 681.0036010742188,
                        "y": 4293.69189453125,
                        "z": 369.7892150878906
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -0.3197348117828369,
                        "yaw": -0.3591918647289276
                    }
                },
                "velocity": {
                    "x": 8.083863258361816,
                    "y": -0.05046975985169411,
                    "z": -0.04475504904985428
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09683609008789,
                "transform": {
                    "location": {
                        "x": 639.2235107421875,
                        "y": 4293.94091796875,
                        "z": 370.02374267578125
                    },
                    "rotation": {
                        "roll": -0.0005187987117096782,
                        "pitch": -0.2987661063671112,
                        "yaw": -0.348480224609375
                    }
                },
                "velocity": {
                    "x": 8.096579551696777,
                    "y": -0.049412600696086884,
                    "z": -0.041333768516778946
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.038454055786133,
                "transform": {
                    "location": {
                        "x": 665.7828979492188,
                        "y": 4287.08251953125,
                        "z": 369.87255859375
                    },
                    "rotation": {
                        "roll": 8.922989945858717e-05,
                        "pitch": 0.3309636414051056,
                        "yaw": 179.65655517578125
                    }
                },
                "velocity": {
                    "x": -4.038323879241943,
                    "y": 0.02407916449010372,
                    "z": 0.02169439196586609
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003627905680332333,
                "transform": {
                    "location": {
                        "x": 652.9827880859375,
                        "y": 4287.15869140625,
                        "z": 369.9505310058594
                    },
                    "rotation": {
                        "roll": 0.0017563658766448498,
                        "pitch": 0.35151568055152893,
                        "yaw": -179.86050415039062
                    }
                },
                "velocity": {
                    "x": -0.0003426969051361084,
                    "y": 8.101859566522762e-05,
                    "z": -8.724568033358082e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.0618743896484375,
                "transform": {
                    "location": {
                        "x": 590.50048828125,
                        "y": 4287.52587890625,
                        "z": 370.251708984375
                    },
                    "rotation": {
                        "roll": 0.0013043220387771726,
                        "pitch": -0.15923218429088593,
                        "yaw": 179.6663055419922
                    }
                },
                "velocity": {
                    "x": -6.061709403991699,
                    "y": 0.03525916859507561,
                    "z": 0.0275046918541193
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.179899215698242,
                "transform": {
                    "location": {
                        "x": 574.5169067382812,
                        "y": 4287.62158203125,
                        "z": 370.3572998046875
                    },
                    "rotation": {
                        "roll": 0.0003400895220693201,
                        "pitch": 0.1373414397239685,
                        "yaw": 179.70408630371094
                    }
                },
                "velocity": {
                    "x": -6.179750442504883,
                    "y": 0.03486214950680733,
                    "z": 0.024956969544291496
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 12.158846855163574,
                "transform": {
                    "location": {
                        "x": 631.056884765625,
                        "y": 4290.53662109375,
                        "z": 370.0650329589844
                    },
                    "rotation": {
                        "roll": -9.155280713457614e-05,
                        "pitch": 0.27617186307907104,
                        "yaw": 179.65744018554688
                    }
                },
                "velocity": {
                    "x": -12.158475875854492,
                    "y": 0.07279402762651443,
                    "z": 0.06100965291261673
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031303405761719,
                "transform": {
                    "location": {
                        "x": 606.3073120117188,
                        "y": 4290.681640625,
                        "z": 370.1853332519531
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": 0.2690889537334442,
                        "yaw": 179.62759399414062
                    }
                },
                "velocity": {
                    "x": -8.03105354309082,
                    "y": 0.05128573626279831,
                    "z": 0.03728502243757248
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044811248779297,
                "transform": {
                    "location": {
                        "x": 586.1663818359375,
                        "y": 4290.79931640625,
                        "z": 370.3077392578125
                    },
                    "rotation": {
                        "roll": 0.0009296949137933552,
                        "pitch": 0.24970486760139465,
                        "yaw": 179.6453094482422
                    }
                },
                "velocity": {
                    "x": -8.044588088989258,
                    "y": 0.04986317455768585,
                    "z": 0.03327247500419617
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.988147735595703,
                "transform": {
                    "location": {
                        "x": 656.9405517578125,
                        "y": 4290.3828125,
                        "z": 369.9205322265625
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": 0.32585465908050537,
                        "yaw": 179.6581268310547
                    }
                },
                "velocity": {
                    "x": -8.987859725952148,
                    "y": 0.05466702952980995,
                    "z": 0.046714190393686295
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.21197080612182617,
        "expert_target_speed": 10.0,
        "target_point": [
            38.27517865172002,
            -2.1168930510294177
        ],
        "target_point_next": [
            44.262600822272184,
            -2.504941315217812
        ]
    },
    "385": {
        "acceleration": [
            -2.9882431030273438,
            0.14912009239196777,
            0.012842416763305664
        ],
        "angular_velocity": [
            -0.0878966748714447,
            1.1130244731903076,
            -2.5868353843688965
        ],
        "forward_vector": [
            -0.9988299608230591,
            -0.048024386167526245,
            0.00568267609924078
        ],
        "right_vector": [
            0.04801218584179878,
            -0.9988441467285156,
            -0.0022645185235887766
        ],
        "location": [
            616.1946411132812,
            4287.74658203125,
            370.1300048828125
        ],
        "rotation": [
            0.12974955141544342,
            0.32559511065483093,
            -177.24729919433594
        ],
        "velocity": [
            -6.994204521179199,
            -0.2901718318462372,
            0.03391766548156738
        ],
        "speed": 7.000221180511409,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 27.041118621826172,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                589.1546630859375,
                4287.53369140625,
                370.25799560546875
            ],
            "velocity": [
                -4.932642936706543,
                0.029004773125052452,
                0.017584742978215218
            ],
            "speed_kmh": 17.757934402979817,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041275978088379,
                "transform": {
                    "location": {
                        "x": 587.981689453125,
                        "y": 4297.48291015625,
                        "z": 370.29998779296875
                    },
                    "rotation": {
                        "roll": 0.002494861138984561,
                        "pitch": -0.2523481547832489,
                        "yaw": -0.23010249435901642
                    }
                },
                "velocity": {
                    "x": 8.041112899780273,
                    "y": -0.03646037355065346,
                    "z": -0.03606158122420311
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.716829299926758,
                "transform": {
                    "location": {
                        "x": 584.9785766601562,
                        "y": 4294.24658203125,
                        "z": 370.2713623046875
                    },
                    "rotation": {
                        "roll": 0.001431628712452948,
                        "pitch": -0.20718695223331451,
                        "yaw": -0.1784972995519638
                    }
                },
                "velocity": {
                    "x": 8.716708183288574,
                    "y": -0.0272324550896883,
                    "z": -0.036972206085920334
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.995682716369629,
                "transform": {
                    "location": {
                        "x": 638.9500122070312,
                        "y": 4297.1923828125,
                        "z": 370.01409912109375
                    },
                    "rotation": {
                        "roll": 0.000631557370070368,
                        "pitch": -0.307768315076828,
                        "yaw": -0.2601318359375
                    }
                },
                "velocity": {
                    "x": 6.995462894439697,
                    "y": -0.041254568845033646,
                    "z": -0.037060871720314026
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078485488891602,
                "transform": {
                    "location": {
                        "x": 680.1476440429688,
                        "y": 4296.94970703125,
                        "z": 369.803466796875
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": -0.32360750436782837,
                        "yaw": -0.3439941108226776
                    }
                },
                "velocity": {
                    "x": 8.078204154968262,
                    "y": -0.05027349293231964,
                    "z": -0.04487649351358414
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.051457405090332,
                "transform": {
                    "location": {
                        "x": 683.0203247070312,
                        "y": 4293.68017578125,
                        "z": 369.77783203125
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.32119646668434143,
                        "yaw": -0.352264404296875
                    }
                },
                "velocity": {
                    "x": 8.051179885864258,
                    "y": -0.04944157972931862,
                    "z": -0.04501506686210632
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.064739227294922,
                "transform": {
                    "location": {
                        "x": 641.2437744140625,
                        "y": 4293.92919921875,
                        "z": 370.01324462890625
                    },
                    "rotation": {
                        "roll": -0.0003356934175826609,
                        "pitch": -0.3024885654449463,
                        "yaw": -0.3536987006664276
                    }
                },
                "velocity": {
                    "x": 8.06447696685791,
                    "y": -0.050626639276742935,
                    "z": -0.04088935628533363
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.512702465057373,
                "transform": {
                    "location": {
                        "x": 664.6882934570312,
                        "y": 4287.0888671875,
                        "z": 369.87847900390625
                    },
                    "rotation": {
                        "roll": 6.068820948712528e-05,
                        "pitch": 0.32556095719337463,
                        "yaw": 179.66200256347656
                    }
                },
                "velocity": {
                    "x": -4.51255989074707,
                    "y": 0.02565738931298256,
                    "z": 0.025100383907556534
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002339119091629982,
                "transform": {
                    "location": {
                        "x": 652.9830932617188,
                        "y": 4287.15869140625,
                        "z": 369.9508056640625
                    },
                    "rotation": {
                        "roll": 0.0013285264139994979,
                        "pitch": 0.3175218105316162,
                        "yaw": -179.86048889160156
                    }
                },
                "velocity": {
                    "x": -6.282921822275966e-05,
                    "y": 1.1844381333503406e-05,
                    "z": -0.0002250044053653255
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.932759761810303,
                "transform": {
                    "location": {
                        "x": 589.1546630859375,
                        "y": 4287.53369140625,
                        "z": 370.25799560546875
                    },
                    "rotation": {
                        "roll": 0.0001923552481457591,
                        "pitch": -0.270871639251709,
                        "yaw": 179.66355895996094
                    }
                },
                "velocity": {
                    "x": -4.932642936706543,
                    "y": 0.029004773125052452,
                    "z": 0.017584742978215218
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.315975189208984,
                "transform": {
                    "location": {
                        "x": 573.127685546875,
                        "y": 4287.62939453125,
                        "z": 370.3628845214844
                    },
                    "rotation": {
                        "roll": -6.103512714616954e-05,
                        "pitch": 0.13281984627246857,
                        "yaw": 179.69854736328125
                    }
                },
                "velocity": {
                    "x": -5.315831184387207,
                    "y": 0.03271263465285301,
                    "z": 0.02147916704416275
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 11.442197799682617,
                "transform": {
                    "location": {
                        "x": 628.0602416992188,
                        "y": 4290.55419921875,
                        "z": 370.0795593261719
                    },
                    "rotation": {
                        "roll": -0.0008544918964616954,
                        "pitch": 0.3376777172088623,
                        "yaw": 179.65878295898438
                    }
                },
                "velocity": {
                    "x": -11.441840171813965,
                    "y": 0.07007834315299988,
                    "z": 0.05714326724410057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03018569946289,
                "transform": {
                    "location": {
                        "x": 604.2994995117188,
                        "y": 4290.69384765625,
                        "z": 370.1947937011719
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.2690548002719879,
                        "yaw": 179.66159057617188
                    }
                },
                "velocity": {
                    "x": -8.02994441986084,
                    "y": 0.0500720776617527,
                    "z": 0.036891963332891464
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.007206916809082,
                "transform": {
                    "location": {
                        "x": 584.1602783203125,
                        "y": 4290.81103515625,
                        "z": 370.31634521484375
                    },
                    "rotation": {
                        "roll": 0.0004338799917604774,
                        "pitch": 0.24607804417610168,
                        "yaw": 179.64532470703125
                    }
                },
                "velocity": {
                    "x": -8.006983757019043,
                    "y": 0.04958951845765114,
                    "z": 0.03334231302142143
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.752761840820312,
                "transform": {
                    "location": {
                        "x": 654.5951538085938,
                        "y": 4290.39697265625,
                        "z": 369.9330749511719
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": 0.3242836892604828,
                        "yaw": 179.65419006347656
                    }
                },
                "velocity": {
                    "x": -9.752450942993164,
                    "y": 0.058782774955034256,
                    "z": 0.051179997622966766
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11862800270318985,
        "expert_target_speed": 7.72913092282017,
        "target_point": [
            36.616054290151475,
            -1.7052874223225276
        ],
        "target_point_next": [
            42.607297251873916,
            -2.0290365186464925
        ]
    },
    "390": {
        "acceleration": [
            -3.9055824279785156,
            -0.10137736797332764,
            0.02212315797805786
        ],
        "angular_velocity": [
            -0.19811628758907318,
            0.6968370676040649,
            -0.8316479325294495
        ],
        "forward_vector": [
            -0.9991568326950073,
            -0.03988988697528839,
            0.00971850287169218
        ],
        "right_vector": [
            0.03987669199705124,
            -0.9992033839225769,
            -0.0015479474095627666
        ],
        "location": [
            614.3292236328125,
            4287.6728515625,
            370.1380920410156
        ],
        "rotation": [
            0.08869507908821106,
            0.5568379759788513,
            -177.71376037597656
        ],
        "velocity": [
            -7.906278610229492,
            -0.2964881360530853,
            0.03765261545777321
        ],
        "speed": 7.9118358601144285,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 26.44422149658203,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                587.8856201171875,
                4287.54150390625,
                370.2621765136719
            ],
            "velocity": [
                -5.150375843048096,
                0.03014024905860424,
                0.024116449058055878
            ],
            "speed_kmh": 18.54187377954205,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.965385913848877,
                "transform": {
                    "location": {
                        "x": 589.972412109375,
                        "y": 4297.47314453125,
                        "z": 370.2912902832031
                    },
                    "rotation": {
                        "roll": 0.000402295496314764,
                        "pitch": -0.26314669847488403,
                        "yaw": -0.263671875
                    }
                },
                "velocity": {
                    "x": 7.965214729309082,
                    "y": -0.03813119977712631,
                    "z": -0.0356937013566494
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.29946517944336,
                "transform": {
                    "location": {
                        "x": 587.102783203125,
                        "y": 4294.23974609375,
                        "z": 370.2625732421875
                    },
                    "rotation": {
                        "roll": 0.0008091455092653632,
                        "pitch": -0.25598180294036865,
                        "yaw": -0.24453729391098022
                    }
                },
                "velocity": {
                    "x": 8.29931354522705,
                    "y": -0.03355281054973602,
                    "z": -0.03723018988966942
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.766206741333008,
                "transform": {
                    "location": {
                        "x": 640.8063354492188,
                        "y": 4297.18212890625,
                        "z": 370.0041198730469
                    },
                    "rotation": {
                        "roll": 0.0007766054477542639,
                        "pitch": -0.27685487270355225,
                        "yaw": -0.3168945014476776
                    }
                },
                "velocity": {
                    "x": 7.7659592628479,
                    "y": -0.04685104265809059,
                    "z": -0.04065847396850586
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.078364372253418,
                "transform": {
                    "location": {
                        "x": 682.1671752929688,
                        "y": 4296.9375,
                        "z": 369.7921447753906
                    },
                    "rotation": {
                        "roll": -0.00048828101716935635,
                        "pitch": -0.3228766918182373,
                        "yaw": -0.3705749213695526
                    }
                },
                "velocity": {
                    "x": 8.078081130981445,
                    "y": -0.05031048506498337,
                    "z": -0.04514674097299576
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 685.0494384765625,
                        "y": 4293.64208984375,
                        "z": 369.7679138183594
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.090226173400879,
                "transform": {
                    "location": {
                        "x": 643.2630615234375,
                        "y": 4293.91748046875,
                        "z": 370.0026550292969
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": -0.30261150002479553,
                        "yaw": -0.3562011420726776
                    }
                },
                "velocity": {
                    "x": 8.089966773986816,
                    "y": -0.050196003168821335,
                    "z": -0.04105810075998306
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.123957633972168,
                "transform": {
                    "location": {
                        "x": 663.7301635742188,
                        "y": 4287.09423828125,
                        "z": 369.88409423828125
                    },
                    "rotation": {
                        "roll": 5.8819605328608304e-06,
                        "pitch": 0.28608930110931396,
                        "yaw": 179.6630859375
                    }
                },
                "velocity": {
                    "x": -3.1238534450531006,
                    "y": 0.018456747755408287,
                    "z": 0.01761951483786106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.336458267876878e-05,
                "transform": {
                    "location": {
                        "x": 652.9832153320312,
                        "y": 4287.15869140625,
                        "z": 369.9508361816406
                    },
                    "rotation": {
                        "roll": 0.0013977597700431943,
                        "pitch": 0.3100290894508362,
                        "yaw": -179.86048889160156
                    }
                },
                "velocity": {
                    "x": -5.090117338113487e-05,
                    "y": -5.49796936866187e-07,
                    "z": -6.601835048059002e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.150520324707031,
                "transform": {
                    "location": {
                        "x": 587.8856201171875,
                        "y": 4287.54150390625,
                        "z": 370.2621765136719
                    },
                    "rotation": {
                        "roll": -0.0004272460355423391,
                        "pitch": 0.10491853207349777,
                        "yaw": 179.6643524169922
                    }
                },
                "velocity": {
                    "x": -5.150375843048096,
                    "y": 0.03014024905860424,
                    "z": 0.024116449058055878
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.6238861083984375,
                "transform": {
                    "location": {
                        "x": 571.7659912109375,
                        "y": 4287.63720703125,
                        "z": 370.3674621582031
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": 0.23595570027828217,
                        "yaw": 179.71148681640625
                    }
                },
                "velocity": {
                    "x": -5.623760223388672,
                    "y": 0.030226878821849823,
                    "z": 0.022433223202824593
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.369224548339844,
                "transform": {
                    "location": {
                        "x": 625.37109375,
                        "y": 4290.5703125,
                        "z": 370.0924987792969
                    },
                    "rotation": {
                        "roll": 0.00015757553046569228,
                        "pitch": 0.3843074142932892,
                        "yaw": 179.66067504882812
                    }
                },
                "velocity": {
                    "x": -10.368911743164062,
                    "y": 0.0613977424800396,
                    "z": 0.05208000913262367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030869483947754,
                "transform": {
                    "location": {
                        "x": 602.2918090820312,
                        "y": 4290.70556640625,
                        "z": 370.2042541503906
                    },
                    "rotation": {
                        "roll": 2.8661550459219143e-05,
                        "pitch": 0.2677638828754425,
                        "yaw": 179.62301635742188
                    }
                },
                "velocity": {
                    "x": -8.03062629699707,
                    "y": 0.05010489746928215,
                    "z": 0.03741379827260971
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045670509338379,
                "transform": {
                    "location": {
                        "x": 582.1536254882812,
                        "y": 4290.822265625,
                        "z": 370.3249206542969
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": 0.24751920998096466,
                        "yaw": 179.64520263671875
                    }
                },
                "velocity": {
                    "x": -8.045445442199707,
                    "y": 0.0497666634619236,
                    "z": 0.033733710646629333
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.61520004272461,
                "transform": {
                    "location": {
                        "x": 652.0457763671875,
                        "y": 4290.41259765625,
                        "z": 369.9466247558594
                    },
                    "rotation": {
                        "roll": -0.000274658203125,
                        "pitch": 0.3247891366481781,
                        "yaw": 179.65374755859375
                    }
                },
                "velocity": {
                    "x": -10.614852905273438,
                    "y": 0.06411311030387878,
                    "z": 0.057025544345378876
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04735873267054558,
        "expert_target_speed": 8.431342839271522,
        "target_point": [
            34.76185037681204,
            -1.4063811752870605
        ],
        "target_point_next": [
            40.75553055678967,
            -1.6813422705397494
        ]
    },
    "395": {
        "acceleration": [
            -3.9020919799804688,
            -0.10405838489532471,
            0.0036109983921051025
        ],
        "angular_velocity": [
            -0.03215942159295082,
            0.2672186493873596,
            -0.12008403241634369
        ],
        "forward_vector": [
            -0.9991393685340881,
            -0.03979948163032532,
            0.011682601645588875
        ],
        "right_vector": [
            0.03979600965976715,
            -0.9992076754570007,
            -0.0005297721363604069
        ],
        "location": [
            612.2239990234375,
            4287.58935546875,
            370.1477355957031
        ],
        "rotation": [
            0.030355779454112053,
            0.6693789958953857,
            -177.71890258789062
        ],
        "velocity": [
            -8.885510444641113,
            -0.3537048399448395,
            0.042036447674036026
        ],
        "speed": 8.892547608847913,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 25.661869049072266,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                586.5624389648438,
                4287.54931640625,
                370.26702880859375
            ],
            "velocity": [
                -5.995654106140137,
                0.03544304147362709,
                0.0258661936968565
            ],
            "speed_kmh": 21.58493277376927,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.077064514160156,
                "transform": {
                    "location": {
                        "x": 591.9810791015625,
                        "y": 4297.4638671875,
                        "z": 370.2822265625
                    },
                    "rotation": {
                        "roll": 0.0003770412295125425,
                        "pitch": -0.246856689453125,
                        "yaw": -0.2698974013328552
                    }
                },
                "velocity": {
                    "x": 8.07688045501709,
                    "y": -0.03998694196343422,
                    "z": -0.0370476134121418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.044093132019043,
                "transform": {
                    "location": {
                        "x": 589.136474609375,
                        "y": 4294.23046875,
                        "z": 370.253662109375
                    },
                    "rotation": {
                        "roll": 3.331643529236317e-05,
                        "pitch": -0.2625114619731903,
                        "yaw": -0.2842406928539276
                    }
                },
                "velocity": {
                    "x": 8.043920516967773,
                    "y": -0.037476446479558945,
                    "z": -0.03693826124072075
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.73818588256836,
                "transform": {
                    "location": {
                        "x": 642.8728637695312,
                        "y": 4297.1689453125,
                        "z": 369.99310302734375
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.2634267210960388,
                        "yaw": -0.282745361328125
                    }
                },
                "velocity": {
                    "x": 8.737913131713867,
                    "y": -0.0521848089993,
                    "z": -0.04515549913048744
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 684.2239990234375,
                        "y": 4296.8857421875,
                        "z": 369.779052734375
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 687.1304321289062,
                        "y": 4293.57275390625,
                        "z": 369.75921630859375
                    },
                    "rotation": {
                        "roll": 1.0422210316995972e-10,
                        "pitch": -0.32589563727378845,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063212394714355,
                "transform": {
                    "location": {
                        "x": 645.2819213867188,
                        "y": 4293.90576171875,
                        "z": 369.9920959472656
                    },
                    "rotation": {
                        "roll": -0.0006408691988326609,
                        "pitch": -0.3020309507846832,
                        "yaw": -0.35638427734375
                    }
                },
                "velocity": {
                    "x": 8.06295108795166,
                    "y": -0.05015287920832634,
                    "z": -0.04128340631723404
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.3367021977901459,
                "transform": {
                    "location": {
                        "x": 663.1934204101562,
                        "y": 4287.09716796875,
                        "z": 369.88726806640625
                    },
                    "rotation": {
                        "roll": -0.00021362295956350863,
                        "pitch": 0.25533977150917053,
                        "yaw": 179.6819610595703
                    }
                },
                "velocity": {
                    "x": -0.336683452129364,
                    "y": 0.0023864181712269783,
                    "z": 0.0026319692842662334
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01652831770479679,
                "transform": {
                    "location": {
                        "x": 652.983642578125,
                        "y": 4287.15869140625,
                        "z": 369.9508972167969
                    },
                    "rotation": {
                        "roll": 0.0010577331995591521,
                        "pitch": 0.30673012137413025,
                        "yaw": -179.8603057861328
                    }
                },
                "velocity": {
                    "x": 0.01652430184185505,
                    "y": -0.00034898603917099535,
                    "z": -0.00010452270362293348
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.995814323425293,
                "transform": {
                    "location": {
                        "x": 586.5624389648438,
                        "y": 4287.54931640625,
                        "z": 370.26702880859375
                    },
                    "rotation": {
                        "roll": -0.0005798339261673391,
                        "pitch": 0.3677305281162262,
                        "yaw": 179.66192626953125
                    }
                },
                "velocity": {
                    "x": -5.995654106140137,
                    "y": 0.03544304147362709,
                    "z": 0.0258661936968565
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.635722637176514,
                "transform": {
                    "location": {
                        "x": 570.1478271484375,
                        "y": 4287.64697265625,
                        "z": 370.37237548828125
                    },
                    "rotation": {
                        "roll": 0.0008766854298301041,
                        "pitch": 0.4031655490398407,
                        "yaw": 179.7332000732422
                    }
                },
                "velocity": {
                    "x": -7.635532855987549,
                    "y": 0.044814079999923706,
                    "z": 0.029891185462474823
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.23442554473877,
                "transform": {
                    "location": {
                        "x": 622.7734375,
                        "y": 4290.5859375,
                        "z": 370.10601806640625
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.3033355176448822,
                        "yaw": 179.66070556640625
                    }
                },
                "velocity": {
                    "x": -10.234113693237305,
                    "y": 0.060639213770627975,
                    "z": 0.05207536742091179
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030871391296387,
                "transform": {
                    "location": {
                        "x": 600.2839965820312,
                        "y": 4290.7177734375,
                        "z": 370.213623046875
                    },
                    "rotation": {
                        "roll": 5.211076362088285e-11,
                        "pitch": 0.2644853889942169,
                        "yaw": 179.66294860839844
                    }
                },
                "velocity": {
                    "x": -8.030632019042969,
                    "y": 0.0497150756418705,
                    "z": 0.036911360919475555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.00740909576416,
                "transform": {
                    "location": {
                        "x": 580.1471557617188,
                        "y": 4290.83447265625,
                        "z": 370.3333435058594
                    },
                    "rotation": {
                        "roll": 0.0008863157127052546,
                        "pitch": 0.24118763208389282,
                        "yaw": 179.64349365234375
                    }
                },
                "velocity": {
                    "x": -8.00717544555664,
                    "y": 0.05122891813516617,
                    "z": 0.03346392512321472
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.480025291442871,
                "transform": {
                    "location": {
                        "x": 649.2807006835938,
                        "y": 4290.42919921875,
                        "z": 369.9612731933594
                    },
                    "rotation": {
                        "roll": -0.00048828107537701726,
                        "pitch": 0.32463204860687256,
                        "yaw": 179.65365600585938
                    }
                },
                "velocity": {
                    "x": -11.479653358459473,
                    "y": 0.06941240280866623,
                    "z": 0.060977447777986526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.043573927134275436,
        "expert_target_speed": 9.131848793403055,
        "target_point": [
            32.65509660037071,
            -1.4029025836748563
        ],
        "target_point_next": [
            38.64880140525826,
            -1.6773263720516811
        ]
    },
    "400": {
        "acceleration": [
            -3.939037322998047,
            0.2644592523574829,
            0.017170757055282593
        ],
        "angular_velocity": [
            0.1461486667394638,
            0.41921648383140564,
            -1.2326571941375732
        ],
        "forward_vector": [
            -0.9994091987609863,
            -0.0325818695127964,
            0.010940332897007465
        ],
        "right_vector": [
            0.03256380558013916,
            -0.9994679689407349,
            -0.0018249726854264736
        ],
        "location": [
            609.9306640625,
            4287.51171875,
            370.1587829589844
        ],
        "rotation": [
            0.10456954687833786,
            0.6268473863601685,
            -178.13275146484375
        ],
        "velocity": [
            -9.58788776397705,
            -0.2733137905597687,
            0.04553777724504471
        ],
        "speed": 9.59178253520851,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 25.061279296875,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                584.8696899414062,
                4287.55908203125,
                370.2729187011719
            ],
            "velocity": [
                -7.454619407653809,
                0.04372887685894966,
                0.030822094529867172
            ],
            "speed_kmh": 26.837320972291586,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.026039123535156,
                "transform": {
                    "location": {
                        "x": 593.9959106445312,
                        "y": 4297.453125,
                        "z": 370.2732849121094
                    },
                    "rotation": {
                        "roll": 3.1914245482767e-05,
                        "pitch": -0.2651342749595642,
                        "yaw": -0.2971801161766052
                    }
                },
                "velocity": {
                    "x": 8.025845527648926,
                    "y": -0.04177912697196007,
                    "z": -0.0368826761841774
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.758573532104492,
                "transform": {
                    "location": {
                        "x": 590.9738159179688,
                        "y": 4294.2216796875,
                        "z": 370.2457275390625
                    },
                    "rotation": {
                        "roll": -0.00036621096660383046,
                        "pitch": -0.29077479243278503,
                        "yaw": -0.2923889458179474
                    }
                },
                "velocity": {
                    "x": 6.7584228515625,
                    "y": -0.03361773118376732,
                    "z": -0.030108919367194176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.279461860656738,
                "transform": {
                    "location": {
                        "x": 644.9965209960938,
                        "y": 4297.15673828125,
                        "z": 369.9825439453125
                    },
                    "rotation": {
                        "roll": -0.0002746582613326609,
                        "pitch": -0.30557581782341003,
                        "yaw": -0.3156737685203552
                    }
                },
                "velocity": {
                    "x": 8.279190063476562,
                    "y": -0.04989554360508919,
                    "z": -0.044847629964351654
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 686.3060913085938,
                        "y": 4296.8212890625,
                        "z": 369.7653503417969
                    },
                    "rotation": {
                        "roll": -1.0422207541438411e-10,
                        "pitch": -0.3230884075164795,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44935,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 689.2132568359375,
                        "y": 4293.5517578125,
                        "z": 369.7478942871094
                    },
                    "rotation": {
                        "roll": 1.0422210316995972e-10,
                        "pitch": -0.32589563727378845,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.09375286102295,
                "transform": {
                    "location": {
                        "x": 647.3015747070312,
                        "y": 4293.8935546875,
                        "z": 369.9814453125
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.3040800094604492,
                        "yaw": -0.3560180366039276
                    }
                },
                "velocity": {
                    "x": 8.093497276306152,
                    "y": -0.049185335636138916,
                    "z": -0.04156901687383652
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003380575217306614,
                "transform": {
                    "location": {
                        "x": 663.1917114257812,
                        "y": 4287.09716796875,
                        "z": 369.88702392578125
                    },
                    "rotation": {
                        "roll": -0.0015869140625,
                        "pitch": 0.2836918830871582,
                        "yaw": 179.68325805664062
                    }
                },
                "velocity": {
                    "x": 5.2243729442125186e-05,
                    "y": -1.2556385627249256e-05,
                    "z": -0.000333760108333081
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0003711231693159789,
                "transform": {
                    "location": {
                        "x": 652.9862060546875,
                        "y": 4287.15869140625,
                        "z": 369.9508972167969
                    },
                    "rotation": {
                        "roll": 0.0009461931185796857,
                        "pitch": 0.3072150647640228,
                        "yaw": -179.86021423339844
                    }
                },
                "velocity": {
                    "x": 0.00017208635108545423,
                    "y": 0.0002844928530976176,
                    "z": 0.00016487120592501014
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.454811096191406,
                "transform": {
                    "location": {
                        "x": 584.8696899414062,
                        "y": 4287.55908203125,
                        "z": 370.2729187011719
                    },
                    "rotation": {
                        "roll": 0.000553784950170666,
                        "pitch": 0.7552754282951355,
                        "yaw": 179.66505432128906
                    }
                },
                "velocity": {
                    "x": -7.454619407653809,
                    "y": 0.04372887685894966,
                    "z": 0.030822094529867172
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.39358901977539,
                "transform": {
                    "location": {
                        "x": 568.0844116210938,
                        "y": 4287.658203125,
                        "z": 370.3810119628906
                    },
                    "rotation": {
                        "roll": -0.00012207032705191523,
                        "pitch": 0.33739084005355835,
                        "yaw": 179.7005157470703
                    }
                },
                "velocity": {
                    "x": -8.393396377563477,
                    "y": 0.046413641422986984,
                    "z": 0.032910194247961044
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.00667667388916,
                "transform": {
                    "location": {
                        "x": 620.3717651367188,
                        "y": 4290.60009765625,
                        "z": 370.11712646484375
                    },
                    "rotation": {
                        "roll": -0.0013122555101290345,
                        "pitch": 0.38718292117118835,
                        "yaw": 179.6604766845703
                    }
                },
                "velocity": {
                    "x": -9.006407737731934,
                    "y": 0.0534232035279274,
                    "z": 0.04451844096183777
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03065013885498,
                "transform": {
                    "location": {
                        "x": 598.2761840820312,
                        "y": 4290.7294921875,
                        "z": 370.22296142578125
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": 0.2654211223125458,
                        "yaw": 179.6298065185547
                    }
                },
                "velocity": {
                    "x": -8.030400276184082,
                    "y": 0.05113060772418976,
                    "z": 0.037330254912376404
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04301929473877,
                "transform": {
                    "location": {
                        "x": 578.140869140625,
                        "y": 4290.84619140625,
                        "z": 370.3417053222656
                    },
                    "rotation": {
                        "roll": 0.00023773241264279932,
                        "pitch": 0.23835992813110352,
                        "yaw": 179.6414031982422
                    }
                },
                "velocity": {
                    "x": -8.042798042297363,
                    "y": 0.05019765347242355,
                    "z": 0.032312896102666855
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.277149200439453,
                "transform": {
                    "location": {
                        "x": 646.293701171875,
                        "y": 4290.44677734375,
                        "z": 369.97711181640625
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": 0.3233274817466736,
                        "yaw": 179.65357971191406
                    }
                },
                "velocity": {
                    "x": -12.276756286621094,
                    "y": 0.07421636581420898,
                    "z": 0.06435872614383698
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.4074398875236511,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07943934202194214,
        "expert_target_speed": 9.606380421541632,
        "target_point": [
            30.369730522798626,
            -1.169880739008742
        ],
        "target_point_next": [
            36.36526104285148,
            -1.401007299304032
        ]
    },
    "405": {
        "acceleration": [
            0.4549598693847656,
            0.5808621644973755,
            -0.010688602924346924
        ],
        "angular_velocity": [
            0.2245061695575714,
            -0.8919023871421814,
            -5.506570339202881
        ],
        "forward_vector": [
            -0.9997689723968506,
            -0.020173922181129456,
            0.007409980986267328
        ],
        "right_vector": [
            0.020154565572738647,
            -0.999793291091919,
            -0.0026777428574860096
        ],
        "location": [
            607.5336303710938,
            4287.45556640625,
            370.17083740234375
        ],
        "rotation": [
            0.15342776477336884,
            0.42456454038619995,
            -178.84400939941406
        ],
        "velocity": [
            -9.524887084960938,
            -0.1503814160823822,
            0.04492872208356857
        ],
        "speed": 9.526074141615664,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 24.686920166015625,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                582.8472290039062,
                4287.5712890625,
                370.2815246582031
            ],
            "velocity": [
                -8.334965705871582,
                0.04959249868988991,
                0.03557084873318672
            ],
            "speed_kmh": 30.00668090825152,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.99997615814209,
                "transform": {
                    "location": {
                        "x": 595.9949951171875,
                        "y": 4297.44384765625,
                        "z": 370.26416015625
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": -0.2616303861141205,
                        "yaw": -0.30291739106178284
                    }
                },
                "velocity": {
                    "x": 7.999776363372803,
                    "y": -0.04231732711195946,
                    "z": -0.03754498437047005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.979273796081543,
                "transform": {
                    "location": {
                        "x": 592.6678466796875,
                        "y": 4294.212890625,
                        "z": 370.23785400390625
                    },
                    "rotation": {
                        "roll": 0.00011404311953810975,
                        "pitch": -0.26201969385147095,
                        "yaw": -0.3057250380516052
                    }
                },
                "velocity": {
                    "x": 6.97910213470459,
                    "y": -0.03830960765480995,
                    "z": -0.030459484085440636
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.059466361999512,
                "transform": {
                    "location": {
                        "x": 647.0297241210938,
                        "y": 4297.1455078125,
                        "z": 369.97174072265625
                    },
                    "rotation": {
                        "roll": -0.0015869139460846782,
                        "pitch": -0.31188690662384033,
                        "yaw": -0.329620361328125
                    }
                },
                "velocity": {
                    "x": 8.059197425842285,
                    "y": -0.04930372163653374,
                    "z": -0.043585456907749176
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44936,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 688.3890380859375,
                        "y": 4296.80419921875,
                        "z": 369.7533874511719
                    },
                    "rotation": {
                        "roll": 1.0422210316995972e-10,
                        "pitch": -0.32589563727378845,
                        "yaw": -0.33837890625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062740325927734,
                "transform": {
                    "location": {
                        "x": 649.3209228515625,
                        "y": 4293.8818359375,
                        "z": 369.97076416015625
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": -0.30731067061424255,
                        "yaw": -0.3529968559741974
                    }
                },
                "velocity": {
                    "x": 8.062480926513672,
                    "y": -0.04972509667277336,
                    "z": -0.04124755412340164
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00021878689585719258,
                "transform": {
                    "location": {
                        "x": 663.1915283203125,
                        "y": 4287.09716796875,
                        "z": 369.8868713378906
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": 0.30232465267181396,
                        "yaw": 179.68325805664062
                    }
                },
                "velocity": {
                    "x": 1.4353655387822073e-05,
                    "y": 2.1207367808528943e-06,
                    "z": -0.00021830524201504886
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.49119845032691956,
                "transform": {
                    "location": {
                        "x": 652.9498901367188,
                        "y": 4287.15869140625,
                        "z": 369.95050048828125
                    },
                    "rotation": {
                        "roll": 0.0028427187353372574,
                        "pitch": 0.3838634490966797,
                        "yaw": -179.84620666503906
                    }
                },
                "velocity": {
                    "x": -0.4911862909793854,
                    "y": 0.0023594738449901342,
                    "z": 0.0025232790503650904
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.335188865661621,
                "transform": {
                    "location": {
                        "x": 582.8472290039062,
                        "y": 4287.5712890625,
                        "z": 370.2815246582031
                    },
                    "rotation": {
                        "roll": 0.0006257533095777035,
                        "pitch": 0.745398998260498,
                        "yaw": 179.65953063964844
                    }
                },
                "velocity": {
                    "x": -8.334965705871582,
                    "y": 0.04959249868988991,
                    "z": 0.03557084873318672
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.8303914070129395,
                "transform": {
                    "location": {
                        "x": 566.0626220703125,
                        "y": 4287.66943359375,
                        "z": 370.3901062011719
                    },
                    "rotation": {
                        "roll": 0.00121203507296741,
                        "pitch": 0.20321860909461975,
                        "yaw": 179.6483917236328
                    }
                },
                "velocity": {
                    "x": -7.830180644989014,
                    "y": 0.04852862283587456,
                    "z": 0.03081650659441948
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.904248237609863,
                "transform": {
                    "location": {
                        "x": 618.1650390625,
                        "y": 4290.61376953125,
                        "z": 370.1285705566406
                    },
                    "rotation": {
                        "roll": -0.000732421875,
                        "pitch": 0.2997633218765259,
                        "yaw": 179.6651611328125
                    }
                },
                "velocity": {
                    "x": -8.903998374938965,
                    "y": 0.052034273743629456,
                    "z": 0.041780080646276474
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03052806854248,
                "transform": {
                    "location": {
                        "x": 596.2684326171875,
                        "y": 4290.74169921875,
                        "z": 370.232177734375
                    },
                    "rotation": {
                        "roll": 0.0008632587268948555,
                        "pitch": 0.2602711617946625,
                        "yaw": 179.66737365722656
                    }
                },
                "velocity": {
                    "x": -8.030293464660645,
                    "y": 0.04911618307232857,
                    "z": 0.03700308874249458
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.011040687561035,
                "transform": {
                    "location": {
                        "x": 576.1342163085938,
                        "y": 4290.85791015625,
                        "z": 370.3499450683594
                    },
                    "rotation": {
                        "roll": -0.00018310539599042386,
                        "pitch": 0.23579861223697662,
                        "yaw": 179.64141845703125
                    }
                },
                "velocity": {
                    "x": -8.010818481445312,
                    "y": 0.050176773220300674,
                    "z": 0.03221919760107994
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.053549766540527,
                "transform": {
                    "location": {
                        "x": 643.234375,
                        "y": 4290.46484375,
                        "z": 369.9933166503906
                    },
                    "rotation": {
                        "roll": 0.0011534176301211119,
                        "pitch": 0.29871830344200134,
                        "yaw": 179.65365600585938
                    }
                },
                "velocity": {
                    "x": -12.053163528442383,
                    "y": 0.07284515351057053,
                    "z": 0.0633591040968895
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.6243245601654053,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09552451968193054,
        "expert_target_speed": 9.57603892807649,
        "target_point": [
            27.984234283367684,
            -0.8005728704876707
        ],
        "target_point_next": [
            33.982171959624445,
            -0.9572551461248122
        ]
    },
    "410": {
        "acceleration": [
            -0.8180999755859375,
            0.5634891986846924,
            0.0321970134973526
        ],
        "angular_velocity": [
            0.044079504907131195,
            0.0164056196808815,
            -1.312561273574829
        ],
        "forward_vector": [
            -0.9999660849571228,
            -0.005570908077061176,
            0.006067953538149595
        ],
        "right_vector": [
            0.005550879519432783,
            -0.9999791383743286,
            -0.003312517888844013
        ],
        "location": [
            605.144287109375,
            4287.43359375,
            370.1824035644531
        ],
        "rotation": [
            0.18979713320732117,
            0.3476702570915222,
            -179.68080139160156
        ],
        "velocity": [
            -9.636953353881836,
            -0.008221231400966644,
            0.04609076306223869
        ],
        "speed": 9.636956860624629,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 24.268831253051758,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                580.8761596679688,
                4287.58251953125,
                370.2918395996094
            ],
            "velocity": [
                -7.494256496429443,
                0.04510698840022087,
                0.03255337476730347
            ],
            "speed_kmh": 26.980066593091372,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.071065902709961,
                "transform": {
                    "location": {
                        "x": 598.0066528320312,
                        "y": 4297.4326171875,
                        "z": 370.25482177734375
                    },
                    "rotation": {
                        "roll": -0.0014038083609193563,
                        "pitch": -0.26238852739334106,
                        "yaw": -0.3162230849266052
                    }
                },
                "velocity": {
                    "x": 8.070854187011719,
                    "y": -0.044826917350292206,
                    "z": -0.037610553205013275
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.713960647583008,
                "transform": {
                    "location": {
                        "x": 594.51953125,
                        "y": 4294.203125,
                        "z": 370.2292785644531
                    },
                    "rotation": {
                        "roll": -0.000335693359375,
                        "pitch": -0.23626989126205444,
                        "yaw": -0.3215942084789276
                    }
                },
                "velocity": {
                    "x": 7.71376371383667,
                    "y": -0.04308152571320534,
                    "z": -0.03440123796463013
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.784881114959717,
                "transform": {
                    "location": {
                        "x": 648.86962890625,
                        "y": 4297.13427734375,
                        "z": 369.9623718261719
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.342561274766922,
                        "yaw": -0.3243102729320526
                    }
                },
                "velocity": {
                    "x": 6.784659385681152,
                    "y": -0.040922217071056366,
                    "z": -0.0364798977971077
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092236518859863,
                "transform": {
                    "location": {
                        "x": 651.340576171875,
                        "y": 4293.8701171875,
                        "z": 369.9599914550781
                    },
                    "rotation": {
                        "roll": 0.0006488849758170545,
                        "pitch": -0.30581486225128174,
                        "yaw": -0.3538512885570526
                    }
                },
                "velocity": {
                    "x": 8.091971397399902,
                    "y": -0.05092399939894676,
                    "z": -0.04125029966235161
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004538609937299043,
                "transform": {
                    "location": {
                        "x": 663.1915283203125,
                        "y": 4287.09716796875,
                        "z": 369.8868408203125
                    },
                    "rotation": {
                        "roll": -9.155274165095761e-05,
                        "pitch": 0.3065047264099121,
                        "yaw": 179.68325805664062
                    }
                },
                "velocity": {
                    "x": 1.244783379661385e-05,
                    "y": -2.017548240473843e-06,
                    "z": -0.0004536857595667243
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.20538455247879028,
                "transform": {
                    "location": {
                        "x": 652.8434448242188,
                        "y": 4287.1591796875,
                        "z": 369.9517822265625
                    },
                    "rotation": {
                        "roll": 0.0001610141625860706,
                        "pitch": 0.29548078775405884,
                        "yaw": -179.875
                    }
                },
                "velocity": {
                    "x": -0.20537646114826202,
                    "y": 0.0017541261622682214,
                    "z": -0.0004955768235959113
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.494462966918945,
                "transform": {
                    "location": {
                        "x": 580.8761596679688,
                        "y": 4287.58251953125,
                        "z": 370.2918395996094
                    },
                    "rotation": {
                        "roll": 0.0014608277706429362,
                        "pitch": 0.2086622714996338,
                        "yaw": 179.65487670898438
                    }
                },
                "velocity": {
                    "x": -7.494256496429443,
                    "y": 0.04510698840022087,
                    "z": 0.03255337476730347
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.049188613891602,
                "transform": {
                    "location": {
                        "x": 564.094970703125,
                        "y": 4287.681640625,
                        "z": 370.3973693847656
                    },
                    "rotation": {
                        "roll": 0.0005037169903516769,
                        "pitch": 0.22900940477848053,
                        "yaw": 179.67340087890625
                    }
                },
                "velocity": {
                    "x": -8.048994064331055,
                    "y": 0.04758976772427559,
                    "z": 0.029530085623264313
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.70026683807373,
                "transform": {
                    "location": {
                        "x": 615.8408813476562,
                        "y": 4290.62744140625,
                        "z": 370.1404113769531
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.2123437374830246,
                        "yaw": 179.66566467285156
                    }
                },
                "velocity": {
                    "x": -9.699995040893555,
                    "y": 0.056606702506542206,
                    "z": 0.045362167060375214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031325340270996,
                "transform": {
                    "location": {
                        "x": 594.2606201171875,
                        "y": 4290.7529296875,
                        "z": 370.2413635253906
                    },
                    "rotation": {
                        "roll": -0.00012207027612021193,
                        "pitch": 0.25758689641952515,
                        "yaw": 179.63165283203125
                    }
                },
                "velocity": {
                    "x": -8.03109073638916,
                    "y": 0.04896312206983566,
                    "z": 0.03699688985943794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04297161102295,
                "transform": {
                    "location": {
                        "x": 574.12744140625,
                        "y": 4290.86962890625,
                        "z": 370.3580627441406
                    },
                    "rotation": {
                        "roll": -3.051765452255495e-05,
                        "pitch": 0.231167733669281,
                        "yaw": 179.64141845703125
                    }
                },
                "velocity": {
                    "x": -8.042742729187012,
                    "y": 0.05031922832131386,
                    "z": 0.0340767577290535
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 12.165594100952148,
                "transform": {
                    "location": {
                        "x": 640.2098999023438,
                        "y": 4290.48291015625,
                        "z": 370.00909423828125
                    },
                    "rotation": {
                        "roll": 0.0012940552551299334,
                        "pitch": 0.30028241872787476,
                        "yaw": 179.65357971191406
                    }
                },
                "velocity": {
                    "x": -12.165201187133789,
                    "y": 0.07353097945451736,
                    "z": 0.06436797976493835
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.3190021216869354,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0844983235001564,
        "expert_target_speed": 9.624306043023834,
        "target_point": [
            25.60351311027986,
            -0.4004525987769648
        ],
        "target_point_next": [
            31.60309936619923,
            -0.46952112665031764
        ]
    },
    "415": {
        "acceleration": [
            -1.0566139221191406,
            -0.10245666652917862,
            -0.012410357594490051
        ],
        "angular_velocity": [
            -0.4548868238925934,
            0.09626203775405884,
            -1.6827207803726196
        ],
        "forward_vector": [
            -0.9999790191650391,
            0.00023474995396099985,
            0.006477787159383297
        ],
        "right_vector": [
            -0.0002442720578983426,
            -0.999998927116394,
            -0.001469211420044303
        ],
        "location": [
            602.703369140625,
            4287.4306640625,
            370.19390869140625
        ],
        "rotation": [
            0.08418141305446625,
            0.37115246057510376,
            179.98655700683594
        ],
        "velocity": [
            -9.886083602905273,
            -0.009498119354248047,
            0.04514646530151367
        ],
        "speed": 9.886088165594305,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 23.656869888305664,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                579.0473022460938,
                4287.59423828125,
                370.2998352050781
            ],
            "velocity": [
                -7.396543025970459,
                0.04465346410870552,
                0.029784897342324257
            ],
            "speed_kmh": 26.628256013090773,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.995069980621338,
                "transform": {
                    "location": {
                        "x": 600.0140991210938,
                        "y": 4297.42041015625,
                        "z": 370.24560546875
                    },
                    "rotation": {
                        "roll": -0.0022277829702943563,
                        "pitch": -0.27163660526275635,
                        "yaw": -0.3217773139476776
                    }
                },
                "velocity": {
                    "x": 7.994853973388672,
                    "y": -0.04493790492415428,
                    "z": -0.037905048578977585
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.728846549987793,
                "transform": {
                    "location": {
                        "x": 596.5908203125,
                        "y": 4294.19091796875,
                        "z": 370.21978759765625
                    },
                    "rotation": {
                        "roll": -0.00024414065410383046,
                        "pitch": -0.2254030555486679,
                        "yaw": -0.327880859375
                    }
                },
                "velocity": {
                    "x": 8.728610038757324,
                    "y": -0.04941678047180176,
                    "z": -0.04095275327563286
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.995585918426514,
                "transform": {
                    "location": {
                        "x": 650.5697631835938,
                        "y": 4297.12451171875,
                        "z": 369.9529724121094
                    },
                    "rotation": {
                        "roll": -0.0019531248835846782,
                        "pitch": -0.3065798580646515,
                        "yaw": -0.277069091796875
                    }
                },
                "velocity": {
                    "x": 6.995364665985107,
                    "y": -0.041751932352781296,
                    "z": -0.03673260286450386
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.063560485839844,
                "transform": {
                    "location": {
                        "x": 653.3599243164062,
                        "y": 4293.85791015625,
                        "z": 369.9493408203125
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": -0.3069145381450653,
                        "yaw": -0.3563843071460724
                    }
                },
                "velocity": {
                    "x": 8.063299179077148,
                    "y": -0.05014723539352417,
                    "z": -0.041290033608675
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.06527776271104813,
                "transform": {
                    "location": {
                        "x": 663.1868896484375,
                        "y": 4287.09716796875,
                        "z": 369.8868408203125
                    },
                    "rotation": {
                        "roll": 0.00023354619042947888,
                        "pitch": 0.30980369448661804,
                        "yaw": 179.68411254882812
                    }
                },
                "velocity": {
                    "x": -0.06527327746152878,
                    "y": 0.00034767499892041087,
                    "z": 0.0006816100794821978
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002955757372546941,
                "transform": {
                    "location": {
                        "x": 652.804931640625,
                        "y": 4287.1591796875,
                        "z": 369.9524841308594
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.21713852882385254,
                        "yaw": -179.8671417236328
                    }
                },
                "velocity": {
                    "x": -6.804346776334569e-05,
                    "y": -4.632206037058495e-05,
                    "z": 0.00028388266218826175
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.396738052368164,
                "transform": {
                    "location": {
                        "x": 579.0473022460938,
                        "y": 4287.59423828125,
                        "z": 370.2998352050781
                    },
                    "rotation": {
                        "roll": -0.00024414061044808477,
                        "pitch": 0.15819400548934937,
                        "yaw": 179.65457153320312
                    }
                },
                "velocity": {
                    "x": -7.396543025970459,
                    "y": 0.04465346410870552,
                    "z": 0.029784897342324257
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.10822868347168,
                "transform": {
                    "location": {
                        "x": 562.0580444335938,
                        "y": 4287.69287109375,
                        "z": 370.4050598144531
                    },
                    "rotation": {
                        "roll": 0.0007065300014801323,
                        "pitch": 0.22525963187217712,
                        "yaw": 179.64492797851562
                    }
                },
                "velocity": {
                    "x": -8.108028411865234,
                    "y": 0.048518355935811996,
                    "z": 0.029820365831255913
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.975407600402832,
                "transform": {
                    "location": {
                        "x": 613.3394165039062,
                        "y": 4290.6416015625,
                        "z": 370.1521301269531
                    },
                    "rotation": {
                        "roll": -0.00018310548330191523,
                        "pitch": 0.23078525066375732,
                        "yaw": 179.6661376953125
                    }
                },
                "velocity": {
                    "x": -9.975119590759277,
                    "y": 0.058145955204963684,
                    "z": 0.048556070774793625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030269622802734,
                "transform": {
                    "location": {
                        "x": 592.2528076171875,
                        "y": 4290.76513671875,
                        "z": 370.2503967285156
                    },
                    "rotation": {
                        "roll": 0.0007522376836277544,
                        "pitch": 0.2563779652118683,
                        "yaw": 179.66787719726562
                    }
                },
                "velocity": {
                    "x": -8.030035018920898,
                    "y": 0.049136824905872345,
                    "z": 0.03684182092547417
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008448600769043,
                "transform": {
                    "location": {
                        "x": 572.1213989257812,
                        "y": 4290.88134765625,
                        "z": 370.3661193847656
                    },
                    "rotation": {
                        "roll": 3.685805495479144e-05,
                        "pitch": 0.23096966743469238,
                        "yaw": 179.6416473388672
                    }
                },
                "velocity": {
                    "x": -8.00822639465332,
                    "y": 0.05009634792804718,
                    "z": 0.03246920555830002
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 11.16850757598877,
                "transform": {
                    "location": {
                        "x": 637.282958984375,
                        "y": 4290.5,
                        "z": 370.0245361328125
                    },
                    "rotation": {
                        "roll": 0.00034045931533910334,
                        "pitch": 0.278637558221817,
                        "yaw": 179.6536407470703
                    }
                },
                "velocity": {
                    "x": -11.168160438537598,
                    "y": 0.06752805411815643,
                    "z": 0.05654936656355858
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32467663288116455,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.086824931204319,
        "expert_target_speed": 9.765533219428288,
        "target_point": [
            23.16448924154849,
            -0.2553079917120277
        ],
        "target_point_next": [
            29.164375368059456,
            -0.2895449988890992
        ]
    },
    "420": {
        "acceleration": [
            -0.8507347106933594,
            0.27240943908691406,
            0.012544095516204834
        ],
        "angular_velocity": [
            0.167400062084198,
            -0.014949757605791092,
            1.5716725587844849
        ],
        "forward_vector": [
            -0.9999753832817078,
            -0.0020133107900619507,
            0.006725618150085211
        ],
        "right_vector": [
            0.0020092239137738943,
            -0.9999977946281433,
            -0.0006143222562968731
        ],
        "location": [
            600.1968383789062,
            4287.4267578125,
            370.2055358886719
        ],
        "rotation": [
            0.0351988710463047,
            0.3853524327278137,
            -179.8846435546875
        ],
        "velocity": [
            -10.144701957702637,
            -0.006738502997905016,
            0.04645993188023567
        ],
        "speed": 10.144704195689412,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 23.108217239379883,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                577.0895385742188,
                4287.60595703125,
                370.3068542480469
            ],
            "velocity": [
                -8.070409774780273,
                0.04858127981424332,
                0.03384939953684807
            ],
            "speed_kmh": 29.054257129151388,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.05265998840332,
                "transform": {
                    "location": {
                        "x": 602.01953125,
                        "y": 4297.4091796875,
                        "z": 370.2361755371094
                    },
                    "rotation": {
                        "roll": -0.0010070799617096782,
                        "pitch": -0.26757264137268066,
                        "yaw": -0.3220824599266052
                    }
                },
                "velocity": {
                    "x": 8.052448272705078,
                    "y": -0.045257117599248886,
                    "z": -0.036801889538764954
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.285919189453125,
                "transform": {
                    "location": {
                        "x": 598.7122192382812,
                        "y": 4294.1796875,
                        "z": 370.21038818359375
                    },
                    "rotation": {
                        "roll": 0.00023184838937595487,
                        "pitch": -0.27367883920669556,
                        "yaw": -0.331695556640625
                    }
                },
                "velocity": {
                    "x": 8.285690307617188,
                    "y": -0.04769609868526459,
                    "z": -0.03908483311533928
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.770758152008057,
                "transform": {
                    "location": {
                        "x": 652.431640625,
                        "y": 4297.11328125,
                        "z": 369.9427795410156
                    },
                    "rotation": {
                        "roll": -0.00042724618106149137,
                        "pitch": -0.27978503704071045,
                        "yaw": -0.3433837592601776
                    }
                },
                "velocity": {
                    "x": 7.770506381988525,
                    "y": -0.04707777872681618,
                    "z": -0.04120223969221115
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.093066215515137,
                "transform": {
                    "location": {
                        "x": 655.3795776367188,
                        "y": 4293.845703125,
                        "z": 369.9385986328125
                    },
                    "rotation": {
                        "roll": -0.0003967285738326609,
                        "pitch": -0.30849912762641907,
                        "yaw": -0.36004629731178284
                    }
                },
                "velocity": {
                    "x": 8.092795372009277,
                    "y": -0.05078566446900368,
                    "z": -0.04241063818335533
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000793969607912004,
                "transform": {
                    "location": {
                        "x": 663.1382446289062,
                        "y": 4287.09765625,
                        "z": 369.8871765136719
                    },
                    "rotation": {
                        "roll": 0.0013822768814861774,
                        "pitch": 0.30599245429039,
                        "yaw": 179.70399475097656
                    }
                },
                "velocity": {
                    "x": -4.2316687540733255e-06,
                    "y": -2.7191850676899776e-05,
                    "z": -0.0007934925379231572
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0015081840101629496,
                "transform": {
                    "location": {
                        "x": 652.8042602539062,
                        "y": 4287.1591796875,
                        "z": 369.9519348144531
                    },
                    "rotation": {
                        "roll": 0.00048786590923555195,
                        "pitch": 0.285945862531662,
                        "yaw": -179.8671417236328
                    }
                },
                "velocity": {
                    "x": 0.0006398512050509453,
                    "y": 2.313950244570151e-05,
                    "z": 0.0013655306538566947
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 8.070627212524414,
                "transform": {
                    "location": {
                        "x": 577.0895385742188,
                        "y": 4287.60595703125,
                        "z": 370.3068542480469
                    },
                    "rotation": {
                        "roll": 0.00017502768605481833,
                        "pitch": 0.41156667470932007,
                        "yaw": 179.65499877929688
                    }
                },
                "velocity": {
                    "x": -8.070409774780273,
                    "y": 0.04858127981424332,
                    "z": 0.03384939953684807
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.932272911071777,
                "transform": {
                    "location": {
                        "x": 560.0613403320312,
                        "y": 4287.705078125,
                        "z": 370.4127197265625
                    },
                    "rotation": {
                        "roll": 0.0006740566459484398,
                        "pitch": 0.2036420851945877,
                        "yaw": 179.66685485839844
                    }
                },
                "velocity": {
                    "x": -7.932076454162598,
                    "y": 0.04773771017789841,
                    "z": 0.02906503528356552
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.853254318237305,
                "transform": {
                    "location": {
                        "x": 610.9912719726562,
                        "y": 4290.65576171875,
                        "z": 370.16241455078125
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": 0.3641037046909332,
                        "yaw": 179.6611328125
                    }
                },
                "velocity": {
                    "x": -8.852998733520508,
                    "y": 0.05237381160259247,
                    "z": 0.042181748896837234
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030970573425293,
                "transform": {
                    "location": {
                        "x": 590.2450561523438,
                        "y": 4290.7763671875,
                        "z": 370.25933837890625
                    },
                    "rotation": {
                        "roll": 0.00037138303741812706,
                        "pitch": 0.2508386969566345,
                        "yaw": 179.62799072265625
                    }
                },
                "velocity": {
                    "x": -8.030733108520508,
                    "y": 0.04946412518620491,
                    "z": 0.03689384460449219
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04461669921875,
                "transform": {
                    "location": {
                        "x": 570.1146240234375,
                        "y": 4290.89404296875,
                        "z": 370.3741455078125
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.22858592867851257,
                        "yaw": 179.64053344726562
                    }
                },
                "velocity": {
                    "x": -8.044389724731445,
                    "y": 0.05035408213734627,
                    "z": 0.03340408205986023
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.253617286682129,
                "transform": {
                    "location": {
                        "x": 634.60107421875,
                        "y": 4290.51611328125,
                        "z": 370.0382385253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.26924604177474976,
                        "yaw": 179.65370178222656
                    }
                },
                "velocity": {
                    "x": -10.253296852111816,
                    "y": 0.06196899339556694,
                    "z": 0.05217727646231651
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.330430269241333,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11308584362268448,
        "expert_target_speed": 9.925282815952535,
        "target_point": [
            20.657323290757454,
            -0.3062367334875792
        ],
        "target_point_next": [
            26.657117301373436,
            -0.3539602490302815
        ]
    },
    "425": {
        "acceleration": [
            0.11754989624023438,
            0.16847628355026245,
            -0.004783421754837036
        ],
        "angular_velocity": [
            -0.00926690548658371,
            -0.2540704309940338,
            -3.1278140544891357
        ],
        "forward_vector": [
            -0.999984860420227,
            0.002255083527415991,
            0.005013325717300177
        ],
        "right_vector": [
            -0.0022596465423703194,
            -0.9999970197677612,
            -0.0009047057828865945
        ],
        "location": [
            597.6786499023438,
            4287.4296875,
            370.2176208496094
        ],
        "rotation": [
            0.05183647945523262,
            0.2872436046600342,
            179.87078857421875
        ],
        "velocity": [
            -10.019182205200195,
            0.034645117819309235,
            0.045649927109479904
        ],
        "speed": 10.019242104330495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 22.539270401000977,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                575.140380859375,
                4287.6181640625,
                370.31561279296875
            ],
            "velocity": [
                -7.537891864776611,
                0.04488831013441086,
                0.03214149549603462
            ],
            "speed_kmh": 27.13713855481738,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01547622680664,
                "transform": {
                    "location": {
                        "x": 604.0289306640625,
                        "y": 4297.3974609375,
                        "z": 370.22674560546875
                    },
                    "rotation": {
                        "roll": 0.0006982467020861804,
                        "pitch": -0.27109017968177795,
                        "yaw": -0.3253478407859802
                    }
                },
                "velocity": {
                    "x": 8.01526165008545,
                    "y": -0.045493610203266144,
                    "z": -0.03697557374835014
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.041614532470703,
                "transform": {
                    "location": {
                        "x": 600.74365234375,
                        "y": 4294.16796875,
                        "z": 370.200927734375
                    },
                    "rotation": {
                        "roll": 0.0004146361316088587,
                        "pitch": -0.27661582827568054,
                        "yaw": -0.3332214057445526
                    }
                },
                "velocity": {
                    "x": 8.041387557983398,
                    "y": -0.04727774113416672,
                    "z": -0.03755190223455429
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.769681930541992,
                "transform": {
                    "location": {
                        "x": 654.5113525390625,
                        "y": 4297.10107421875,
                        "z": 369.931640625
                    },
                    "rotation": {
                        "roll": 0.0011250728275626898,
                        "pitch": -0.2694031298160553,
                        "yaw": -0.3988647758960724
                    }
                },
                "velocity": {
                    "x": 8.769389152526855,
                    "y": -0.05475368723273277,
                    "z": -0.04626031219959259
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.062787055969238,
                "transform": {
                    "location": {
                        "x": 657.3989868164062,
                        "y": 4293.8330078125,
                        "z": 369.9278564453125
                    },
                    "rotation": {
                        "roll": -3.0517636332660913e-05,
                        "pitch": -0.3084103465080261,
                        "yaw": -0.3603210151195526
                    }
                },
                "velocity": {
                    "x": 8.062509536743164,
                    "y": -0.05065661668777466,
                    "z": -0.043636493384838104
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0012357498053461313,
                "transform": {
                    "location": {
                        "x": 663.1382446289062,
                        "y": 4287.09765625,
                        "z": 369.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0010443454375490546,
                        "pitch": 0.3070579767227173,
                        "yaw": 179.70399475097656
                    }
                },
                "velocity": {
                    "x": 7.239095793920569e-06,
                    "y": -1.806799446057994e-05,
                    "z": -0.0012355964863672853
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0009129825048148632,
                "transform": {
                    "location": {
                        "x": 652.8040771484375,
                        "y": 4287.1591796875,
                        "z": 369.9517822265625
                    },
                    "rotation": {
                        "roll": 0.00026832259027287364,
                        "pitch": 0.3044283390045166,
                        "yaw": -179.8671417236328
                    }
                },
                "velocity": {
                    "x": 0.00011649902444332838,
                    "y": -1.9787064957199618e-05,
                    "z": 0.0009053029934875667
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.5380940437316895,
                "transform": {
                    "location": {
                        "x": 575.140380859375,
                        "y": 4287.6181640625,
                        "z": 370.31561279296875
                    },
                    "rotation": {
                        "roll": -0.0005493165226653218,
                        "pitch": 0.17862309515476227,
                        "yaw": 179.65866088867188
                    }
                },
                "velocity": {
                    "x": -7.537891864776611,
                    "y": 0.04488831013441086,
                    "z": 0.03214149549603462
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.076953887939453,
                "transform": {
                    "location": {
                        "x": 558.0599975585938,
                        "y": 4287.71630859375,
                        "z": 370.4199523925781
                    },
                    "rotation": {
                        "roll": -9.155269071925431e-05,
                        "pitch": 0.22200162708759308,
                        "yaw": 179.6414794921875
                    }
                },
                "velocity": {
                    "x": -8.07675552368164,
                    "y": 0.04896869137883186,
                    "z": 0.028622588142752647
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.406607627868652,
                "transform": {
                    "location": {
                        "x": 609.0685424804688,
                        "y": 4290.66748046875,
                        "z": 370.17047119140625
                    },
                    "rotation": {
                        "roll": -0.0003356934757903218,
                        "pitch": 0.49127498269081116,
                        "yaw": 179.65403747558594
                    }
                },
                "velocity": {
                    "x": -6.406426906585693,
                    "y": 0.03720380738377571,
                    "z": 0.030510930344462395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031172752380371,
                "transform": {
                    "location": {
                        "x": 588.2372436523438,
                        "y": 4290.78857421875,
                        "z": 370.2681884765625
                    },
                    "rotation": {
                        "roll": 0.0007748270290903747,
                        "pitch": 0.2493087202310562,
                        "yaw": 179.66397094726562
                    }
                },
                "velocity": {
                    "x": -8.030935287475586,
                    "y": 0.04961245134472847,
                    "z": 0.03671577200293541
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.006690979003906,
                "transform": {
                    "location": {
                        "x": 568.1085205078125,
                        "y": 4290.90576171875,
                        "z": 370.38201904296875
                    },
                    "rotation": {
                        "roll": 1.935679574671667e-05,
                        "pitch": 0.22367502748966217,
                        "yaw": 179.64088439941406
                    }
                },
                "velocity": {
                    "x": -8.0064697265625,
                    "y": 0.05019397661089897,
                    "z": 0.032076071947813034
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.859477043151855,
                "transform": {
                    "location": {
                        "x": 632.2188720703125,
                        "y": 4290.53076171875,
                        "z": 370.0504150390625
                    },
                    "rotation": {
                        "roll": 0.0003221631923224777,
                        "pitch": 0.2619035840034485,
                        "yaw": 179.65614318847656
                    }
                },
                "velocity": {
                    "x": -8.859200477600098,
                    "y": 0.05293860659003258,
                    "z": 0.045771826058626175
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32765644788742065,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10746324062347412,
        "expert_target_speed": 9.827599178936929,
        "target_point": [
            18.1402535166981,
            -0.22081396332366565
        ],
        "target_point_next": [
            24.140196568893565,
            -0.24292898470172464
        ]
    },
    "430": {
        "acceleration": [
            4.941253662109375,
            0.017595887184143066,
            -0.02425767481327057
        ],
        "angular_velocity": [
            -0.11652315407991409,
            -0.8634653091430664,
            -0.2551249563694
        ],
        "forward_vector": [
            -0.9999757409095764,
            0.006511296145617962,
            -0.002468225546181202
        ],
        "right_vector": [
            -0.006509025115519762,
            -0.9999783635139465,
            -0.0009270101436413825
        ],
        "location": [
            595.4099731445312,
            4287.44189453125,
            370.2295227050781
        ],
        "rotation": [
            0.05311393737792969,
            -0.14141905307769775,
            179.62692260742188
        ],
        "velocity": [
            -8.389452934265137,
            0.06328131258487701,
            0.03906243294477463
        ],
        "speed": 8.389691595092897,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 22.17115592956543,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                573.2398071289062,
                4287.62939453125,
                370.3231506347656
            ],
            "velocity": [
                -7.824254512786865,
                0.04660835117101669,
                0.030752267688512802
            ],
            "speed_kmh": 28.168033554140287,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.041901588439941,
                "transform": {
                    "location": {
                        "x": 606.0355834960938,
                        "y": 4297.3857421875,
                        "z": 370.2172546386719
                    },
                    "rotation": {
                        "roll": 0.001193915493786335,
                        "pitch": -0.272305965423584,
                        "yaw": -0.3275146484375
                    }
                },
                "velocity": {
                    "x": 8.04167366027832,
                    "y": -0.04744434729218483,
                    "z": -0.03754092752933502
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.857058525085449,
                "transform": {
                    "location": {
                        "x": 602.5776977539062,
                        "y": 4294.1572265625,
                        "z": 370.19256591796875
                    },
                    "rotation": {
                        "roll": 0.0001236346724908799,
                        "pitch": -0.30468788743019104,
                        "yaw": -0.30859375
                    }
                },
                "velocity": {
                    "x": 6.856858253479004,
                    "y": -0.04030260816216469,
                    "z": -0.0334160216152668
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.271830558776855,
                "transform": {
                    "location": {
                        "x": 656.6348266601562,
                        "y": 4297.087890625,
                        "z": 369.9207458496094
                    },
                    "rotation": {
                        "roll": 0.0005877167568542063,
                        "pitch": -0.31283631920814514,
                        "yaw": -0.42333984375
                    }
                },
                "velocity": {
                    "x": 8.271536827087402,
                    "y": -0.05335719883441925,
                    "z": -0.04495735466480255
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.092941284179688,
                "transform": {
                    "location": {
                        "x": 659.4186401367188,
                        "y": 4293.8212890625,
                        "z": 369.91693115234375
                    },
                    "rotation": {
                        "roll": 0.0006163408979773521,
                        "pitch": -0.3095714747905731,
                        "yaw": -0.3544921875
                    }
                },
                "velocity": {
                    "x": 8.092662811279297,
                    "y": -0.0500510111451149,
                    "z": -0.04482438787817955
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004632015770766884,
                "transform": {
                    "location": {
                        "x": 663.1382446289062,
                        "y": 4287.09765625,
                        "z": 369.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0010443454375490546,
                        "pitch": 0.3070579767227173,
                        "yaw": 179.70399475097656
                    }
                },
                "velocity": {
                    "x": 8.53285200719256e-06,
                    "y": 3.696075509651564e-05,
                    "z": -0.00046164574450813234
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.550197864882648e-05,
                "transform": {
                    "location": {
                        "x": 652.8040771484375,
                        "y": 4287.1591796875,
                        "z": 369.9517517089844
                    },
                    "rotation": {
                        "roll": 0.0005317304166965187,
                        "pitch": 0.30836936831474304,
                        "yaw": -179.8671417236328
                    }
                },
                "velocity": {
                    "x": -1.6378983218601206e-06,
                    "y": -2.344201311643701e-05,
                    "z": 9.256574412574992e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.824453830718994,
                "transform": {
                    "location": {
                        "x": 573.2398071289062,
                        "y": 4287.62939453125,
                        "z": 370.3231506347656
                    },
                    "rotation": {
                        "roll": -0.000518798828125,
                        "pitch": 0.2558315396308899,
                        "yaw": 179.65875244140625
                    }
                },
                "velocity": {
                    "x": -7.824254512786865,
                    "y": 0.04660835117101669,
                    "z": 0.030752267688512802
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.024125099182129,
                "transform": {
                    "location": {
                        "x": 556.0436401367188,
                        "y": 4287.728515625,
                        "z": 370.427490234375
                    },
                    "rotation": {
                        "roll": -9.155267616733909e-05,
                        "pitch": 0.21099136769771576,
                        "yaw": 179.66448974609375
                    }
                },
                "velocity": {
                    "x": -8.02392578125,
                    "y": 0.04872747138142586,
                    "z": 0.02876630797982216
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.029137134552002,
                "transform": {
                    "location": {
                        "x": 607.5465698242188,
                        "y": 4290.6767578125,
                        "z": 370.1788330078125
                    },
                    "rotation": {
                        "roll": -3.051758903893642e-05,
                        "pitch": 0.34407758712768555,
                        "yaw": 179.69964599609375
                    }
                },
                "velocity": {
                    "x": -6.028968811035156,
                    "y": 0.034588515758514404,
                    "z": 0.028827007859945297
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031059265136719,
                "transform": {
                    "location": {
                        "x": 586.2294311523438,
                        "y": 4290.80029296875,
                        "z": 370.2770080566406
                    },
                    "rotation": {
                        "roll": -0.0002746580867096782,
                        "pitch": 0.24710939824581146,
                        "yaw": 179.62423706054688
                    }
                },
                "velocity": {
                    "x": -8.030816078186035,
                    "y": 0.052323903888463974,
                    "z": 0.034186314791440964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045188903808594,
                "transform": {
                    "location": {
                        "x": 566.1019287109375,
                        "y": 4290.91796875,
                        "z": 370.38983154296875
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": 0.22508886456489563,
                        "yaw": 179.6380615234375
                    }
                },
                "velocity": {
                    "x": -8.044966697692871,
                    "y": 0.0508565716445446,
                    "z": 0.03146510198712349
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.306739807128906,
                "transform": {
                    "location": {
                        "x": 630.1126098632812,
                        "y": 4290.54296875,
                        "z": 370.06103515625
                    },
                    "rotation": {
                        "roll": 9.620436685509048e-06,
                        "pitch": 0.27493560314178467,
                        "yaw": 179.65953063964844
                    }
                },
                "velocity": {
                    "x": -8.306492805480957,
                    "y": 0.049232181161642075,
                    "z": 0.04096512869000435
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.11909953504800797,
        "expert_target_speed": 8.766215841405847,
        "target_point": [
            15.872320893205881,
            -0.1461677000372888
        ],
        "target_point_next": [
            21.872303725787795,
            -0.142745349744835
        ]
    },
    "435": {
        "acceleration": [
            2.698945999145508,
            0.1038619875907898,
            -0.03132954239845276
        ],
        "angular_velocity": [
            0.03668757900595665,
            0.41971269249916077,
            -0.6722760796546936
        ],
        "forward_vector": [
            -0.9999688267707825,
            0.007236055564135313,
            -0.0031568948179483414
        ],
        "right_vector": [
            -0.007234680000692606,
            -0.999973714351654,
            -0.00044698704732581973
        ],
        "location": [
            593.4508056640625,
            4287.45556640625,
            370.2386169433594
        ],
        "rotation": [
            0.025610601529479027,
            -0.18087705969810486,
            179.5854034423828
        ],
        "velocity": [
            -7.423647880554199,
            0.060274720191955566,
            0.03313002362847328
        ],
        "speed": 7.423892570367049,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 22.183406829833984,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                571.2683715820312,
                4287.6416015625,
                370.3309326171875
            ],
            "velocity": [
                -7.764989376068115,
                0.04629378765821457,
                0.030597466975450516
            ],
            "speed_kmh": 27.954675560978067,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.016403198242188,
                "transform": {
                    "location": {
                        "x": 608.0429077148438,
                        "y": 4297.3740234375,
                        "z": 370.2077331542969
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": -0.27132925391197205,
                        "yaw": -0.3335875868797302
                    }
                },
                "velocity": {
                    "x": 8.016180038452148,
                    "y": -0.04667287692427635,
                    "z": -0.0373975932598114
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.101414203643799,
                "transform": {
                    "location": {
                        "x": 604.3004760742188,
                        "y": 4294.1474609375,
                        "z": 370.18408203125
                    },
                    "rotation": {
                        "roll": 0.00041948462603613734,
                        "pitch": -0.2717868685722351,
                        "yaw": -0.3127135932445526
                    }
                },
                "velocity": {
                    "x": 7.10120964050293,
                    "y": -0.042394474148750305,
                    "z": -0.033289309591054916
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.061688423156738,
                "transform": {
                    "location": {
                        "x": 658.6669311523438,
                        "y": 4297.07421875,
                        "z": 369.909912109375
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.31802043318748474,
                        "yaw": -0.36193838715553284
                    }
                },
                "velocity": {
                    "x": 8.06141185760498,
                    "y": -0.04944675415754318,
                    "z": -0.04491426423192024
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.06303596496582,
                "transform": {
                    "location": {
                        "x": 661.4380493164062,
                        "y": 4293.80908203125,
                        "z": 369.9060363769531
                    },
                    "rotation": {
                        "roll": 0.0003260758239775896,
                        "pitch": -0.311524897813797,
                        "yaw": -0.3509826064109802
                    }
                },
                "velocity": {
                    "x": 8.062761306762695,
                    "y": -0.04946538805961609,
                    "z": -0.044525474309921265
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0017001269152387977,
                "transform": {
                    "location": {
                        "x": 663.1382446289062,
                        "y": 4287.09765625,
                        "z": 369.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0005552279180847108,
                        "pitch": 0.30861523747444153,
                        "yaw": 179.70401000976562
                    }
                },
                "velocity": {
                    "x": 7.227062948089724e-09,
                    "y": 4.735245238407515e-05,
                    "z": -0.0016994673060253263
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0013976454501971602,
                "transform": {
                    "location": {
                        "x": 652.8040771484375,
                        "y": 4287.1591796875,
                        "z": 369.9517517089844
                    },
                    "rotation": {
                        "roll": 0.0005317304166965187,
                        "pitch": 0.30836936831474304,
                        "yaw": -179.8671417236328
                    }
                },
                "velocity": {
                    "x": 1.2677385711867828e-05,
                    "y": 1.2791256267519202e-05,
                    "z": 0.0013975293841212988
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.765187740325928,
                "transform": {
                    "location": {
                        "x": 571.2683715820312,
                        "y": 4287.6416015625,
                        "z": 370.3309326171875
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.26055121421813965,
                        "yaw": 179.65887451171875
                    }
                },
                "velocity": {
                    "x": -7.764989376068115,
                    "y": 0.04629378765821457,
                    "z": 0.030597466975450516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.003704071044922,
                "transform": {
                    "location": {
                        "x": 554.044189453125,
                        "y": 4287.73974609375,
                        "z": 370.4348449707031
                    },
                    "rotation": {
                        "roll": -0.0015869142953306437,
                        "pitch": 0.21003513038158417,
                        "yaw": 179.6337432861328
                    }
                },
                "velocity": {
                    "x": -8.003499031066895,
                    "y": 0.049387283623218536,
                    "z": 0.02881457284092903
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.4212799072265625,
                "transform": {
                    "location": {
                        "x": 605.9834594726562,
                        "y": 4290.68603515625,
                        "z": 370.1871032714844
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": 0.24251951277256012,
                        "yaw": 179.64962768554688
                    }
                },
                "velocity": {
                    "x": -6.421097278594971,
                    "y": 0.03823554515838623,
                    "z": 0.029666060581803322
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030699729919434,
                "transform": {
                    "location": {
                        "x": 584.2216186523438,
                        "y": 4290.8125,
                        "z": 370.28564453125
                    },
                    "rotation": {
                        "roll": 0.00010789014049805701,
                        "pitch": 0.24224629998207092,
                        "yaw": 179.66612243652344
                    }
                },
                "velocity": {
                    "x": -8.030495643615723,
                    "y": 0.046571262180805206,
                    "z": 0.03329234942793846
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008452415466309,
                "transform": {
                    "location": {
                        "x": 564.0953979492188,
                        "y": 4290.9306640625,
                        "z": 370.39752197265625
                    },
                    "rotation": {
                        "roll": -0.0007019041804596782,
                        "pitch": 0.21913978457450867,
                        "yaw": 179.63739013671875
                    }
                },
                "velocity": {
                    "x": -8.0082368850708,
                    "y": 0.05068952590227127,
                    "z": 0.029809778556227684
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.702655792236328,
                "transform": {
                    "location": {
                        "x": 627.9944458007812,
                        "y": 4290.55517578125,
                        "z": 370.07147216796875
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": 0.29209303855895996,
                        "yaw": 179.66070556640625
                    }
                },
                "velocity": {
                    "x": -8.702399253845215,
                    "y": 0.05156208574771881,
                    "z": 0.042625732719898224
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44795,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 642.4937744140625,
                        "y": 4286.181640625,
                        "z": 370.0032043457031
                    },
                    "rotation": {
                        "roll": -0.0018310542218387127,
                        "pitch": 0.30424392223358154,
                        "yaw": 179.66148376464844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1356019824743271,
        "expert_target_speed": 8.048504026866125,
        "target_point": [
            13.913207482121159,
            -0.13517503748700926
        ],
        "target_point_next": [
            19.913186261946553,
            -0.12740680704705973
        ]
    },
    "440": {
        "acceleration": [
            -1.7624187469482422,
            0.09852036833763123,
            -0.011364370584487915
        ],
        "angular_velocity": [
            -0.03702228516340256,
            1.3749034404754639,
            -0.41016578674316406
        ],
        "forward_vector": [
            -0.9999536275863647,
            0.009524581022560596,
            0.0014357561012730002
        ],
        "right_vector": [
            -0.009525307454168797,
            -0.9999545216560364,
            -0.0004999225493520498
        ],
        "location": [
            591.607421875,
            4287.47265625,
            370.2458801269531
        ],
        "rotation": [
            0.02864348143339157,
            0.0822627916932106,
            179.4542694091797
        ],
        "velocity": [
            -7.477626800537109,
            0.08233296871185303,
            0.03279385343194008
        ],
        "speed": 7.478080053452741,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 22.244150161743164,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                569.3641967773438,
                4287.65283203125,
                370.3387451171875
            ],
            "velocity": [
                -7.608254909515381,
                0.045334115624427795,
                0.028670920059084892
            ],
            "speed_kmh": 27.390398369416307,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0468168258667,
                "transform": {
                    "location": {
                        "x": 610.0511474609375,
                        "y": 4297.3623046875,
                        "z": 370.1982421875
                    },
                    "rotation": {
                        "roll": 9.408030564372893e-06,
                        "pitch": -0.2720600664615631,
                        "yaw": -0.336822509765625
                    }
                },
                "velocity": {
                    "x": 8.046589851379395,
                    "y": -0.04742429032921791,
                    "z": -0.037513718008995056
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.756059646606445,
                "transform": {
                    "location": {
                        "x": 606.1851806640625,
                        "y": 4294.1357421875,
                        "z": 370.1750183105469
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.2505791485309601,
                        "yaw": -0.336151123046875
                    }
                },
                "velocity": {
                    "x": 7.75583553314209,
                    "y": -0.045849431306123734,
                    "z": -0.03712250664830208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.839715957641602,
                "transform": {
                    "location": {
                        "x": 660.501220703125,
                        "y": 4297.0634765625,
                        "z": 369.9001770019531
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": -0.34506112337112427,
                        "yaw": -0.398223876953125
                    }
                },
                "velocity": {
                    "x": 6.839481830596924,
                    "y": -0.04266747459769249,
                    "z": -0.03715648874640465
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.4825439453125,
                        "y": 4293.77392578125,
                        "z": 369.89404296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "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": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.1382446289062,
                        "y": 4287.09716796875,
                        "z": 369.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0005552279180847108,
                        "pitch": 0.30861523747444153,
                        "yaw": 179.70401000976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000499676272738725,
                "transform": {
                    "location": {
                        "x": 652.8040771484375,
                        "y": 4287.1591796875,
                        "z": 369.9517517089844
                    },
                    "rotation": {
                        "roll": 0.0005317304166965187,
                        "pitch": 0.30836936831474304,
                        "yaw": -179.8671417236328
                    }
                },
                "velocity": {
                    "x": 2.977926305902656e-05,
                    "y": 1.8280168660567142e-05,
                    "z": 0.0004984530387446284
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.6084442138671875,
                "transform": {
                    "location": {
                        "x": 569.3641967773438,
                        "y": 4287.65283203125,
                        "z": 370.3387451171875
                    },
                    "rotation": {
                        "roll": -0.00048828125,
                        "pitch": 0.17498943209648132,
                        "yaw": 179.65875244140625
                    }
                },
                "velocity": {
                    "x": -7.608254909515381,
                    "y": 0.045334115624427795,
                    "z": 0.028670920059084892
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.049385070800781,
                "transform": {
                    "location": {
                        "x": 552.0354614257812,
                        "y": 4287.751953125,
                        "z": 370.4422607421875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.21627792716026306,
                        "yaw": 179.65887451171875
                    }
                },
                "velocity": {
                    "x": -8.049178123474121,
                    "y": 0.04961597919464111,
                    "z": 0.029530972242355347
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.202438354492188,
                "transform": {
                    "location": {
                        "x": 604.1553955078125,
                        "y": 4290.69677734375,
                        "z": 370.19677734375
                    },
                    "rotation": {
                        "roll": 0.0006636430625803769,
                        "pitch": 0.11222682893276215,
                        "yaw": 179.6492462158203
                    }
                },
                "velocity": {
                    "x": -8.202218055725098,
                    "y": 0.04688559100031853,
                    "z": 0.03771652281284332
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.0305757522583,
                "transform": {
                    "location": {
                        "x": 582.2138061523438,
                        "y": 4290.82373046875,
                        "z": 370.2942199707031
                    },
                    "rotation": {
                        "roll": -0.0005187986535020173,
                        "pitch": 0.24326400458812714,
                        "yaw": 179.63369750976562
                    }
                },
                "velocity": {
                    "x": -8.030356407165527,
                    "y": 0.04902204871177673,
                    "z": 0.033484313637018204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.043442726135254,
                "transform": {
                    "location": {
                        "x": 562.0889282226562,
                        "y": 4290.94287109375,
                        "z": 370.4051208496094
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": 0.21625743806362152,
                        "yaw": 179.64271545410156
                    }
                },
                "velocity": {
                    "x": -8.043241500854492,
                    "y": 0.04869440570473671,
                    "z": 0.029311170801520348
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.44041919708252,
                "transform": {
                    "location": {
                        "x": 625.7255859375,
                        "y": 4290.56884765625,
                        "z": 370.0826416015625
                    },
                    "rotation": {
                        "roll": -0.00048828116268850863,
                        "pitch": 0.2980489432811737,
                        "yaw": 179.66070556640625
                    }
                },
                "velocity": {
                    "x": -9.440141677856445,
                    "y": 0.055893342941999435,
                    "z": 0.04603046178817749
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10921192169189453,
        "expert_target_speed": 8.088469604632985,
        "target_point": [
            12.070017482253634,
            -0.10379757436336712
        ],
        "target_point_next": [
            18.069962766020097,
            -0.08229651467432059
        ]
    },
    "445": {
        "acceleration": [
            -3.3407974243164062,
            0.13220936059951782,
            0.016559213399887085
        ],
        "angular_velocity": [
            0.0039759669452905655,
            0.9869257807731628,
            -0.8495794534683228
        ],
        "forward_vector": [
            -0.9999005794525146,
            0.012328174896538258,
            0.006844585761427879
        ],
        "right_vector": [
            -0.012332015670835972,
            -0.999923825263977,
            -0.0005191976670175791
        ],
        "location": [
            589.6483764648438,
            4287.49658203125,
            370.25341796875
        ],
        "rotation": [
            0.02974853105843067,
            0.39216893911361694,
            179.29360961914062
        ],
        "velocity": [
            -8.198091506958008,
            0.1124834194779396,
            0.035435762256383896
        ],
        "speed": 8.198863145346095,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 22.229042053222656,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                567.420166015625,
                4287.6650390625,
                370.34600830078125
            ],
            "velocity": [
                -7.862196922302246,
                0.045459575951099396,
                0.02941037155687809
            ],
            "speed_kmh": 28.30458007046304,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010763168334961,
                "transform": {
                    "location": {
                        "x": 612.0579833984375,
                        "y": 4297.3505859375,
                        "z": 370.18865966796875
                    },
                    "rotation": {
                        "roll": 0.00021370116155594587,
                        "pitch": -0.27572789788246155,
                        "yaw": -0.3406676650047302
                    }
                },
                "velocity": {
                    "x": 8.010534286499023,
                    "y": -0.04783598333597183,
                    "z": -0.03717849776148796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.652127265930176,
                "transform": {
                    "location": {
                        "x": 608.2975463867188,
                        "y": 4294.123046875,
                        "z": 370.1649169921875
                    },
                    "rotation": {
                        "roll": -0.0001525878324173391,
                        "pitch": -0.2409963756799698,
                        "yaw": -0.34515380859375
                    }
                },
                "velocity": {
                    "x": 8.65188217163086,
                    "y": -0.05152483657002449,
                    "z": -0.03987139090895653
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.5081176757812,
                        "y": 4297.0263671875,
                        "z": 369.8910827636719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 665.5643310546875,
                        "y": 4293.7021484375,
                        "z": 369.88043212890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "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": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.1382446289062,
                        "y": 4287.09716796875,
                        "z": 369.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0005552279180847108,
                        "pitch": 0.30861523747444153,
                        "yaw": 179.70401000976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0039047724567353725,
                "transform": {
                    "location": {
                        "x": 652.8060302734375,
                        "y": 4287.1591796875,
                        "z": 369.9517822265625
                    },
                    "rotation": {
                        "roll": 0.0016459508333355188,
                        "pitch": 0.30649104714393616,
                        "yaw": -179.8672637939453
                    }
                },
                "velocity": {
                    "x": 0.003719462314620614,
                    "y": 0.00023561350826639682,
                    "z": 0.0011650467058643699
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.8623833656311035,
                "transform": {
                    "location": {
                        "x": 567.420166015625,
                        "y": 4287.6650390625,
                        "z": 370.34600830078125
                    },
                    "rotation": {
                        "roll": -0.00039672848652116954,
                        "pitch": 0.2843680679798126,
                        "yaw": 179.66073608398438
                    }
                },
                "velocity": {
                    "x": -7.862196922302246,
                    "y": 0.045459575951099396,
                    "z": 0.02941037155687809
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014993667602539,
                "transform": {
                    "location": {
                        "x": 550.0274047851562,
                        "y": 4287.76416015625,
                        "z": 370.4496154785156
                    },
                    "rotation": {
                        "roll": -0.0007324215257540345,
                        "pitch": 0.20789045095443726,
                        "yaw": 179.62969970703125
                    }
                },
                "velocity": {
                    "x": -8.014784812927246,
                    "y": 0.05014914274215698,
                    "z": 0.02876231074333191
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.195621490478516,
                "transform": {
                    "location": {
                        "x": 601.9700927734375,
                        "y": 4290.70947265625,
                        "z": 370.2066955566406
                    },
                    "rotation": {
                        "roll": 0.0005207123467698693,
                        "pitch": 0.15336506068706512,
                        "yaw": 179.64114379882812
                    }
                },
                "velocity": {
                    "x": -9.19536304473877,
                    "y": 0.05468462035059929,
                    "z": 0.04189062863588333
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.030893325805664,
                "transform": {
                    "location": {
                        "x": 580.2059936523438,
                        "y": 4290.8359375,
                        "z": 370.3026428222656
                    },
                    "rotation": {
                        "roll": 0.00045942317228764296,
                        "pitch": 0.23902246356010437,
                        "yaw": 179.67518615722656
                    }
                },
                "velocity": {
                    "x": -8.030678749084473,
                    "y": 0.048142168670892715,
                    "z": 0.033560607582330704
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.009017944335938,
                "transform": {
                    "location": {
                        "x": 560.0826416015625,
                        "y": 4290.9541015625,
                        "z": 370.41259765625
                    },
                    "rotation": {
                        "roll": 0.0007199706742540002,
                        "pitch": 0.21656478941440582,
                        "yaw": 179.6451873779297
                    }
                },
                "velocity": {
                    "x": -8.008810997009277,
                    "y": 0.04962007328867912,
                    "z": 0.029284724965691566
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.16528034210205,
                "transform": {
                    "location": {
                        "x": 623.2673950195312,
                        "y": 4290.58349609375,
                        "z": 370.0947570800781
                    },
                    "rotation": {
                        "roll": 0.0009976961882784963,
                        "pitch": 0.30164846777915955,
                        "yaw": 179.65939331054688
                    }
                },
                "velocity": {
                    "x": -10.164973258972168,
                    "y": 0.061271704733371735,
                    "z": 0.04979666694998741
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08990839868783951,
        "expert_target_speed": 8.631306714176407,
        "target_point": [
            10.111069606082566,
            -0.07017724759929676
        ],
        "target_point_next": [
            16.11093100323382,
            -0.031850771980014875
        ]
    },
    "450": {
        "acceleration": [
            -1.6416358947753906,
            0.10138243436813354,
            0.0030250847339630127
        ],
        "angular_velocity": [
            -0.03184184059500694,
            -0.10675741732120514,
            -0.4072788655757904
        ],
        "forward_vector": [
            -0.9998428225517273,
            0.014940368011593819,
            0.009543750435113907
        ],
        "right_vector": [
            -0.014945663511753082,
            -0.9998881816864014,
            -0.00048376977792941034
        ],
        "location": [
            587.4867553710938,
            4287.5283203125,
            370.2623596191406
        ],
        "rotation": [
            0.027719231322407722,
            0.5468249320983887,
            179.14390563964844
        ],
        "velocity": [
            -8.968276023864746,
            0.14276881515979767,
            0.03867321088910103
        ],
        "speed": 8.969412342779732,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 22.008316040039062,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                565.4791259765625,
                4287.67626953125,
                370.35369873046875
            ],
            "velocity": [
                -7.662352561950684,
                0.04457499086856842,
                0.029136084020137787
            ],
            "speed_kmh": 27.585135396040087,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050471305847168,
                "transform": {
                    "location": {
                        "x": 614.0659790039062,
                        "y": 4297.3388671875,
                        "z": 370.1790466308594
                    },
                    "rotation": {
                        "roll": 0.0007913352455943823,
                        "pitch": -0.2759123146533966,
                        "yaw": -0.3450927436351776
                    }
                },
                "velocity": {
                    "x": 8.050236701965332,
                    "y": -0.048526398837566376,
                    "z": -0.0375906266272068
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.223405838012695,
                "transform": {
                    "location": {
                        "x": 610.3975830078125,
                        "y": 4294.1103515625,
                        "z": 370.1554260253906
                    },
                    "rotation": {
                        "roll": -0.000823974609375,
                        "pitch": -0.28091201186180115,
                        "yaw": -0.347503662109375
                    }
                },
                "velocity": {
                    "x": 8.223158836364746,
                    "y": -0.04897502809762955,
                    "z": -0.04086912050843239
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44948,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 664.5905151367188,
                        "y": 4296.97216796875,
                        "z": 369.8827209472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3118595778942108,
                        "yaw": -0.338653564453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44946,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 667.6471557617188,
                        "y": 4293.67626953125,
                        "z": 369.8685607910156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.3146668076515198,
                        "yaw": -0.3386535346508026
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 663.1382446289062,
                        "y": 4287.09716796875,
                        "z": 369.88714599609375
                    },
                    "rotation": {
                        "roll": 0.0005552279180847108,
                        "pitch": 0.30861523747444153,
                        "yaw": 179.70401000976562
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.10000357776880264,
                "transform": {
                    "location": {
                        "x": 652.8048706054688,
                        "y": 4287.1591796875,
                        "z": 369.9517517089844
                    },
                    "rotation": {
                        "roll": 0.0014868656871840358,
                        "pitch": 0.3166065812110901,
                        "yaw": -179.8545379638672
                    }
                },
                "velocity": {
                    "x": -0.09997522830963135,
                    "y": 0.00036394692142494023,
                    "z": 0.0023532486520707607
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.662537574768066,
                "transform": {
                    "location": {
                        "x": 565.4791259765625,
                        "y": 4287.67626953125,
                        "z": 370.35369873046875
                    },
                    "rotation": {
                        "roll": -0.00042724600643850863,
                        "pitch": 0.19824622571468353,
                        "yaw": 179.66604614257812
                    }
                },
                "velocity": {
                    "x": -7.662352561950684,
                    "y": 0.04457499086856842,
                    "z": 0.029136084020137787
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.02701187133789,
                "transform": {
                    "location": {
                        "x": 548.0232543945312,
                        "y": 4287.7763671875,
                        "z": 370.456787109375
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": 0.2040587216615677,
                        "yaw": 179.65574645996094
                    }
                },
                "velocity": {
                    "x": -8.026803016662598,
                    "y": 0.04991148039698601,
                    "z": 0.02918010577559471
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 10.067548751831055,
                "transform": {
                    "location": {
                        "x": 599.5567626953125,
                        "y": 4290.72412109375,
                        "z": 370.2178039550781
                    },
                    "rotation": {
                        "roll": 0.0006549241370521486,
                        "pitch": 0.1734936237335205,
                        "yaw": 179.67481994628906
                    }
                },
                "velocity": {
                    "x": -10.067268371582031,
                    "y": 0.05947771295905113,
                    "z": 0.04588881507515907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031394958496094,
                "transform": {
                    "location": {
                        "x": 578.1982421875,
                        "y": 4290.84716796875,
                        "z": 370.3110046386719
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.2347194403409958,
                        "yaw": 179.62994384765625
                    }
                },
                "velocity": {
                    "x": -8.031167030334473,
                    "y": 0.05068900063633919,
                    "z": 0.03303835913538933
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.04383373260498,
                "transform": {
                    "location": {
                        "x": 558.0758666992188,
                        "y": 4290.96630859375,
                        "z": 370.4200439453125
                    },
                    "rotation": {
                        "roll": 0.0003724567941389978,
                        "pitch": 0.21386003494262695,
                        "yaw": 179.64227294921875
                    }
                },
                "velocity": {
                    "x": -8.043620109558105,
                    "y": 0.05035363882780075,
                    "z": 0.02999168261885643
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.629022598266602,
                "transform": {
                    "location": {
                        "x": 620.7915649414062,
                        "y": 4290.59814453125,
                        "z": 370.1070861816406
                    },
                    "rotation": {
                        "roll": 1.868474828370381e-05,
                        "pitch": 0.27524977922439575,
                        "yaw": 179.6568603515625
                    }
                },
                "velocity": {
                    "x": -9.628731727600098,
                    "y": 0.05761028081178665,
                    "z": 0.04785633832216263
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.057220928370952606,
        "expert_target_speed": 9.15870123317369,
        "target_point": [
            7.949364434070306,
            -0.04432223131536481
        ],
        "target_point_next": [
            13.949105223531031,
            0.009679278296890137
        ]
    },
    "455": {
        "acceleration": [
            3.027935028076172,
            0.028389394283294678,
            -0.0008756667375564575
        ],
        "angular_velocity": [
            -0.013871846720576286,
            -1.3988102674484253,
            -0.8524385094642639
        ],
        "forward_vector": [
            -0.9998392462730408,
            0.017368853092193604,
            0.004453166853636503
        ],
        "right_vector": [
            -0.017371194437146187,
            -0.9998489618301392,
            -0.0004877898027189076
        ],
        "location": [
            585.2947387695312,
            4287.5654296875,
            370.2728576660156
        ],
        "rotation": [
            0.027948575094342232,
            0.2551485300064087,
            179.00477600097656
        ],
        "velocity": [
            -8.465442657470703,
            0.15439172089099884,
            0.03744199499487877
        ],
        "speed": 8.466850429197644,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 21.732765197753906,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                563.5625,
                4287.6884765625,
                370.3609619140625
            ],
            "velocity": [
                -7.73612642288208,
                0.045000944286584854,
                0.029111795127391815
            ],
            "speed_kmh": 27.85072349108579,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.010907173156738,
                "transform": {
                    "location": {
                        "x": 616.073486328125,
                        "y": 4297.3271484375,
                        "z": 370.16943359375
                    },
                    "rotation": {
                        "roll": 0.00044854640145786107,
                        "pitch": -0.2762128412723541,
                        "yaw": -0.3490600287914276
                    }
                },
                "velocity": {
                    "x": 8.010672569274902,
                    "y": -0.04876314103603363,
                    "z": -0.037064045667648315
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.964564323425293,
                "transform": {
                    "location": {
                        "x": 612.4154052734375,
                        "y": 4294.09912109375,
                        "z": 370.14569091796875
                    },
                    "rotation": {
                        "roll": -0.000244140625,
                        "pitch": -0.2842997908592224,
                        "yaw": -0.34564208984375
                    }
                },
                "velocity": {
                    "x": 7.964327812194824,
                    "y": -0.04803542047739029,
                    "z": -0.03821717947721481
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.3062133789062,
                        "y": 4287.14404296875,
                        "z": 369.89398193359375
                    },
                    "rotation": {
                        "roll": -1.0422192275871822e-10,
                        "pitch": 0.30904555320739746,
                        "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": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6186819672584534,
                "transform": {
                    "location": {
                        "x": 652.6907958984375,
                        "y": 4287.15869140625,
                        "z": 369.9516296386719
                    },
                    "rotation": {
                        "roll": 0.0032118537928909063,
                        "pitch": 0.4254729449748993,
                        "yaw": -179.90769958496094
                    }
                },
                "velocity": {
                    "x": -0.618668258190155,
                    "y": 0.0035249092616140842,
                    "z": 0.0021342753898352385
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.736311912536621,
                "transform": {
                    "location": {
                        "x": 563.5625,
                        "y": 4287.6884765625,
                        "z": 370.3609619140625
                    },
                    "rotation": {
                        "roll": 0.0006413203664124012,
                        "pitch": 0.22232264280319214,
                        "yaw": 179.66629028320312
                    }
                },
                "velocity": {
                    "x": -7.73612642288208,
                    "y": 0.045000944286584854,
                    "z": 0.029111795127391815
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.032086372375488,
                "transform": {
                    "location": {
                        "x": 546.0149536132812,
                        "y": 4287.7880859375,
                        "z": 370.46392822265625
                    },
                    "rotation": {
                        "roll": 0.0008760977070778608,
                        "pitch": 0.20529498159885406,
                        "yaw": 179.6252899169922
                    }
                },
                "velocity": {
                    "x": -8.031872749328613,
                    "y": 0.050684791058301926,
                    "z": 0.029256142675876617
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.604381561279297,
                "transform": {
                    "location": {
                        "x": 597.05078125,
                        "y": 4290.73876953125,
                        "z": 370.2283935546875
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.2847778797149658,
                        "yaw": 179.64935302734375
                    }
                },
                "velocity": {
                    "x": -9.604117393493652,
                    "y": 0.05607564002275467,
                    "z": 0.043816689401865005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.031167030334473,
                "transform": {
                    "location": {
                        "x": 576.1904296875,
                        "y": 4290.859375,
                        "z": 370.3192443847656
                    },
                    "rotation": {
                        "roll": -3.051755265914835e-05,
                        "pitch": 0.23314166069030762,
                        "yaw": 179.6608428955078
                    }
                },
                "velocity": {
                    "x": -8.030953407287598,
                    "y": 0.04861445352435112,
                    "z": 0.03260231763124466
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.008061408996582,
                "transform": {
                    "location": {
                        "x": 556.0697631835938,
                        "y": 4290.97802734375,
                        "z": 370.4274597167969
                    },
                    "rotation": {
                        "roll": 0.0009544829372316599,
                        "pitch": 0.21250766515731812,
                        "yaw": 179.6412811279297
                    }
                },
                "velocity": {
                    "x": -8.007851600646973,
                    "y": 0.050047799944877625,
                    "z": 0.029170626774430275
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.682638168334961,
                "transform": {
                    "location": {
                        "x": 618.395751953125,
                        "y": 4290.61181640625,
                        "z": 370.1188049316406
                    },
                    "rotation": {
                        "roll": -0.00042724609375,
                        "pitch": 0.27457359433174133,
                        "yaw": 179.66122436523438
                    }
                },
                "velocity": {
                    "x": -9.68235969543457,
                    "y": 0.05638547241687775,
                    "z": 0.046973712742328644
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04351973906159401,
        "expert_target_speed": 8.811108821600472,
        "target_point": [
            11.756710099524822,
            0.042586003523754745
        ],
        "target_point_next": [
            11.756710099524822,
            0.042586003523754745
        ]
    },
    "460": {
        "acceleration": [
            -1.3064956665039062,
            0.10386288166046143,
            -0.010192692279815674
        ],
        "angular_velocity": [
            0.03091747686266899,
            0.6421874165534973,
            -0.30748701095581055
        ],
        "forward_vector": [
            -0.99980229139328,
            0.019620876759290695,
            0.0032141150441020727
        ],
        "right_vector": [
            -0.019622500985860825,
            -0.9998072981834412,
            -0.0004739122814498842
        ],
        "location": [
            583.21826171875,
            4287.60498046875,
            370.2820129394531
        ],
        "rotation": [
            0.027153315022587776,
            0.18415555357933044,
            178.875732421875
        ],
        "velocity": [
            -8.353650093078613,
            0.17213992774486542,
            0.036746978759765625
        ],
        "speed": 8.355423510051201,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 2,
            "lane_type": "Driving",
            "lane_width": 3.25,
            "is_junction": false
        },
        "lane_change_count": 3,
        "distance_to_front_vehicle": 21.60426139831543,
        "front_vehicle_info": {
            "id": 44805,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                561.6143798828125,
                4287.69970703125,
                370.36822509765625
            ],
            "velocity": [
                -7.7799601554870605,
                0.04471724107861519,
                0.02891918085515499
            ],
            "speed_kmh": 28.008512687974328,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 44956,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.047771453857422,
                "transform": {
                    "location": {
                        "x": 618.0809326171875,
                        "y": 4297.3154296875,
                        "z": 370.1597595214844
                    },
                    "rotation": {
                        "roll": 0.0003369952319189906,
                        "pitch": -0.27566641569137573,
                        "yaw": -0.349517822265625
                    }
                },
                "velocity": {
                    "x": 8.047536849975586,
                    "y": -0.04903344064950943,
                    "z": -0.03715682774782181
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44955,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.98075008392334,
                "transform": {
                    "location": {
                        "x": 614.4050903320312,
                        "y": 4294.0869140625,
                        "z": 370.1360778808594
                    },
                    "rotation": {
                        "roll": 0.00019593621254898608,
                        "pitch": -0.2778657376766205,
                        "yaw": -0.3450927734375
                    }
                },
                "velocity": {
                    "x": 7.980517387390137,
                    "y": -0.04808735102415085,
                    "z": -0.037485912442207336
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 44807,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 662.3062133789062,
                        "y": 4287.14404296875,
                        "z": 369.89398193359375
                    },
                    "rotation": {
                        "roll": -1.0422192275871822e-10,
                        "pitch": 0.30904555320739746,
                        "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": 44806,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.491877794265747,
                "transform": {
                    "location": {
                        "x": 652.4376220703125,
                        "y": 4287.16015625,
                        "z": 369.9524230957031
                    },
                    "rotation": {
                        "roll": 0.004525776952505112,
                        "pitch": 0.47747117280960083,
                        "yaw": -179.91720581054688
                    }
                },
                "velocity": {
                    "x": -1.4918404817581177,
                    "y": 0.007690264843404293,
                    "z": 0.007217941340059042
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 44805,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 7.780142307281494,
                "transform": {
                    "location": {
                        "x": 561.6143798828125,
                        "y": 4287.69970703125,
                        "z": 370.36822509765625
                    },
                    "rotation": {
                        "roll": -0.0010986328125,
                        "pitch": 0.23902246356010437,
                        "yaw": 179.6706085205078
                    }
                },
                "velocity": {
                    "x": -7.7799601554870605,
                    "y": 0.04471724107861519,
                    "z": 0.02891918085515499
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 44804,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.020907402038574,
                "transform": {
                    "location": {
                        "x": 544.0087890625,
                        "y": 4287.7998046875,
                        "z": 370.4710998535156
                    },
                    "rotation": {
                        "roll": -0.00027465823222883046,
                        "pitch": 0.20377185940742493,
                        "yaw": 179.66238403320312
                    }
                },
                "velocity": {
                    "x": -8.020711898803711,
                    "y": 0.04743918776512146,
                    "z": 0.029693325981497765
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44803,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.483441352844238,
                "transform": {
                    "location": {
                        "x": 594.8109741210938,
                        "y": 4290.751953125,
                        "z": 370.238037109375
                    },
                    "rotation": {
                        "roll": 0.0006269417353905737,
                        "pitch": 0.3570959270000458,
                        "yaw": 179.6851348876953
                    }
                },
                "velocity": {
                    "x": -8.483199119567871,
                    "y": 0.049992237240076065,
                    "z": 0.039994027465581894
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44802,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.03101921081543,
                "transform": {
                    "location": {
                        "x": 574.1826171875,
                        "y": 4290.87109375,
                        "z": 370.3274230957031
                    },
                    "rotation": {
                        "roll": -6.1035087128402665e-05,
                        "pitch": 0.228708878159523,
                        "yaw": 179.635009765625
                    }
                },
                "velocity": {
                    "x": -8.030803680419922,
                    "y": 0.04894981160759926,
                    "z": 0.032788123935461044
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 44801,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.045412063598633,
                "transform": {
                    "location": {
                        "x": 554.0629272460938,
                        "y": 4290.98974609375,
                        "z": 370.43487548828125
                    },
                    "rotation": {
                        "roll": -6.103522900957614e-05,
                        "pitch": 0.21293114125728607,
                        "yaw": 179.64501953125
                    }
                },
                "velocity": {
                    "x": -8.045202255249023,
                    "y": 0.0498700886964798,
                    "z": 0.029751433059573174
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 44950,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 10.134725570678711,
                "transform": {
                    "location": {
                        "x": 615.9000854492188,
                        "y": 4290.626953125,
                        "z": 370.1307067871094
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": 0.2848120331764221,
                        "yaw": 179.66409301757812
                    }
                },
                "velocity": {
                    "x": -10.134437561035156,
                    "y": 0.059500355273485184,
                    "z": 0.04788782075047493
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.018401900306344032,
        "expert_target_speed": 8.731038931488568,
        "target_point": [
            9.679731042958979,
            0.06786466990076204
        ],
        "target_point_next": [
            9.679731042958979,
            0.06786466990076204
        ]
    }
}